Alberto Silvio Chiappa

Keywords motor control motor learning reinforcement learning curriculum learning motor skills musculoskeletal control muscle synergies Introduction Motor control, the art of coordinating muscles to produce intricate movements, is a marvel of biological intelligence.

Abstract Efficient musculoskeletal simulators and powerful learning algorithms provide computational tools to tackle the grand challenge of understanding biological motor control. Our winning solution for the inaugural NeurIPS MyoChallenge leverages an approach mirroring human skill learning. Using a novel curriculum learning approach, we trained a recurrent neural network to control a realistic model of the human hand with 39 muscles to rotate two Baoding balls in the palm of the hand.