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MSK-Bench: Benchmarking Full-Body Musculoskeletal Motor Control Across Tasks, Control Paradigms, and Physiological Metrics
Musculoskeletal (MSK) humanoids provide a physiologically grounded embodiment for studying full-body motor control, but their high-dimensional muscle actuation, delayed activation dynamics, and redundant muscle--tendon structures make learning substantially harder than torque-driven humanoid control
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