arXiv subjects

Balint K. Hodossy

Publications and source records attributed to Balint K. Hodossy.

3 recordsLinked to original sources

arXiv2026

MyoChallenge 2025: A New Benchmark for Human Athletic Intelligence

Athletic performance represents the pinnacle of human motor intelligence, demanding rapid choices, precise control, agility, and coordinated physical execution. Replicating this seamless combination of capabilities remains elusive in current artificial intelligence and robotic systems. Concurrently, understanding the biological mastery of these movements is hindered because complex muscle coordination is rarely measured in vivo due to the limitations of physical equipment. To bridge this fundamental gap in understanding, MyoChallenge at NeurIPS 2025 established a pioneering benchmark for motor control intelligence in sports, leveraging high-fidelity musculoskeletal models within physics simulation combined with machine learning-driven algorithms. The competition introduces two distinct tracks emphasizing either upper or lower limbs control: a table tennis rally task utilizing a biomechanic upper limb composed of an arm with a hand and a trunk; and a soccer penalty kick using a biomechanic model of legs and a trunk. Marking the fourth iteration of the MyoChallenge series, this event attracted almost 70 teams and over 560 submissions globally, uniting a diverse community ranging from physicians and neuroscientists to machine learning experts. The competition facilitated the development of several state-of-the-art control algorithms for a musculoskeletal system capable of sports agility, leveraging techniques such as physics-based motion planners, on-policy behaviour cloning, hierarchical planning, and muscle synergies. By integrating standardized tasks and physiologically realistic models into the open-source framework of MyoSuite, MyoChallenge'25 serves as a reproducible and reusable testbed to accelerate interdisciplinary research across machine learning, biomechanics, sports science, and neuroscience. Project page: https://www.myosuite.org//myochallenge/myochallenge-2025.

cs.RO↗

arXiv2026

Neural Control and Learning of Simulated Hand Movements With an EMG-Based Closed-Loop Interface

The standard engineering approach when facing uncertainty is modelling. Mixing data from a well-calibrated model with real recordings has led to breakthroughs in many applications of AI, from computer vision to autonomous driving. This type of model-based data augmentation is now beginning to show promising results in biosignal processing as well. However, while these simulated data are necessary, they are not sufficient for virtual neurophysiological experiments. Simply generating neural signals that reproduce a predetermined motor behaviour does not capture the flexibility, variability, and causal structure required to probe neural mechanisms during control tasks. In this study, we present an in silico neuromechanical model that combines a fully forward musculoskeletal simulation, reinforcement learning, and sequential, online electromyography synthesis. This framework provides not only synchronised kinematics, dynamics, and corresponding neural activity, but also explicitly models feedback and feedforward control in a virtual participant. In this way, online control problems can be represented, as the simulated human adapts its behaviour via a learned RL policy in response to a neural interface. For example, the virtual user can learn hand movements robust to perturbations or the control of a virtual gesture decoder. We illustrate the approach using a gesturing task within a biomechanical hand model, and lay the groundwork for using this technique to evaluate neural controllers, augment training datasets, and generate synthetic data for neurological conditions.

q-bio.QM↗

arXiv2025

Soft Adaptive Feet for Legged Robots: An Open-Source Model for Locomotion Simulation

In recent years, artificial feet based on soft robotics and under-actuation principles emerged to improve mobility on challenging terrains. This paper presents the application of the MuJoCo physics engine to realize a digital twin of an adaptive soft foot developed for use with legged robots. We release the MuJoCo soft foot digital twin as open source to allow users and researchers to explore new approaches to locomotion. The work includes the system modeling techniques along with the kinematic and dynamic attributes involved. Validation is conducted through a rigorous comparison with bench tests on a physical prototype, replicating these experiments in simulation. Results are evaluated based on sole deformation and contact forces during foot-obstacle interaction. The foot model is subsequently integrated into simulations of the humanoid robot COMAN+, replacing its original flat feet. Results show an improvement in the robot's ability to negotiate small obstacles without altering its control strategy. Ultimately, this study offers a comprehensive modeling approach for adaptive soft feet, supported by qualitative comparisons of bipedal locomotion with state of the art robotic feet.

cs.RO↗