EPFL (Mathis Group) · Musculoskeletal Locomotion

TERRA

Terrain-Aware Reconstruction, Retargeting and Control, from EPFL's Mathis group (the team behind MuscleMimic and Kinesis), teaches simulated muscle-driven human bodies to walk over terrain that is not flat. It infers the supporting surfaces from motion-capture data, applies biomechanical constraints when transferring the motion, and trains controllers on the result. The locomotion library totals 11.3 hours, 9.4 of them used for training, and the paper shows steep ramps, stairs, seats, separate platforms, narrow beams and uneven ground. Paper arXiv 2609.38653 (29 September); Apache-2.0 code on GitHub, updated through 9 October.