Publications

• Huawei Wang*, Vittorio Caggiano*, Guillaume Durandau, Massimo Sartori, Vikash Kumar, MyoSim: Fast and physiologically realistic MuJoCo models for musculoskeletal and exoskeletal studies, IEEE International Conference on Robotics and Automation (ICRA), 2022.

• Vittorio Caggiano*, Huawei Wang*, Guillaume Durandau, Massimo Sartori, Vikash Kumar, MyoSuite - A contact-rich simulation suite for musculoskeletal motor control, Conference on Learning for Dynamics and Control (L4DC), 2022. webhttps://sites.google.com/view/myosuite

• Vittorio Caggiano, Sudeep Dasari, Vikash Kumar, MyoDex: A Generalizable Prior for Dexterous Manipulation, International Conference on Machine Learning (ICML), 2023 webhttps://sites.google.com/view/myodex

• Cameron Berg, Vittorio Caggiano*, Vikash Kumar*, SAR: Generalization of Physiological Dexterity via Synergistic Action Representation, Robotics: Science and Systems (RSS), 2023 webhttps://sites.google.com/view/sar-rl

• Vittorio Caggiano et al., MyoChallenge 2022: Learning contact-rich manipulation using a musculoskeletal hand, Proceedings of the NeurIPS 2022 Competitions Track (PMLR 220), 2023.

• Pierre Schumacher, Daniel F.B. Haeufle, Dieter Büchler, Syn Schmitt, Georg Martius, DEP-RL: Embodied Exploration for Reinforcement Learning in Overactuated and Musculoskeletal Systems, International Conference on Learning Representations (ICLR), 2023 codehttps://github.com/martius-lab/depRL

• Alberto Silvio Chiappa, Alessandro Marin Vargas, Ann Zixiang Huang, Alexander Mathis, Latent Exploration for Reinforcement Learning, Advances in Neural Information Processing Systems (NeurIPS), 2023 codehttps://github.com/amathislab/lattice

• Chengkun Li, Cheryl Wang, Bianca Ziliotto, Merkourios Simos, Jozsef Kovecses, Guillaume Durandau, Alexander Mathis, Towards Embodied AI with MuscleMimic: Unlocking full-body musculoskeletal motor learning at scale, arXiv:2603.25544, 2026 codehttps://github.com/amathislab/musclemimic

• Balint K. Hodossy, Matteo Crotti, Anna Pace, Manuel G. Catalano, Oskar C. Aszmann, Antonio Bicchi, Dario Farina, Towards a Virtual Gait Lab: Testing Prosthetics with Dynamically Simulated Users, IEEE Transactions on Medical Robotics and Bionics, 2026.

• Ankit Bhattarai, Hannah Selder, Florian Fischer, Arthur Fleig, Per Ola Kristensson, MyoInteract: A Framework for Fast Prototyping of Biomechanical HCI Tasks using Reinforcement Learning, ACM Designing Interactive Systems Conference (DIS), 2026 doihttps://doi.org/10.1145/3800645.3812899

See References for the sources behind the models, the muscle conditions, the controllers and the motion data.