Topic: stochastic optimal control

Building realistic models for complex and skilful motor tasks such as dexterous object manipulation is hampered by two key challenges: the need for physiologically-detailed musculoskeletal models and powerful algorithms that are able to tackle such high-dimensional problems. The newly released MyoSuite ecosystem provides such musculoskeletal models and is 4000x faster than previous simulators, thereby enabling us to develop and test algorithms for agile object manipulation. Combining ideas from stochastic optimal control and reinforcement learning (RL), we develop a training curriculum called