# MyoAcross: A Generalist Muscle-Driven Control Policy for Musculoskeletal Models Across Individuals

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/epocqhlccc6xydlpafqstgvss
- Original: https://arxiv.org/abs/2610.36535

## Summary

The study proposes the MyoAcross framework, which combines individual musculoskeletal model construction, morphology-conditioned policy learning, and virtual model augmentation to achieve muscle-driven reference-motion tracking without per-individual fine-tuning. Across 31 held-out individual models, it achieved a 99.24% completion rate and reduced tracking error by 22.60% relative to an unconditioned multilayer perceptron. Policy reuse also extended to 22 held-out individual models constructed from single-image shape estimates, height, and body mass, as well as to a model with unilateral lower-limb shortening after asymmetry augmentation.