Arnold: a generalist muscle transformer policy
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
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2025
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| _version_ | 1866909752305385472 |
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| author | Chiappa, Alberto Silvio An, Boshi Simos, Merkourios Li, Chengkun Mathis, Alexander |
| author_facet | Chiappa, Alberto Silvio An, Boshi Simos, Merkourios Li, Chengkun Mathis, Alexander |
| contents | Controlling high-dimensional and nonlinear musculoskeletal models of the human body is a foundational scientific challenge. Recent machine learning breakthroughs have heralded policies that master individual skills like reaching, object manipulation and locomotion in musculoskeletal systems with many degrees of freedom. However, these agents are merely "specialists", achieving high performance for a single skill. In this work, we develop Arnold, a generalist policy that masters multiple tasks and embodiments. Arnold combines behavior cloning and fine-tuning with PPO to achieve expert or super-expert performance in 14 challenging control tasks from dexterous object manipulation to locomotion. A key innovation is Arnold's sensorimotor vocabulary, a compositional representation of the semantics of heterogeneous sensory modalities, objectives, and actuators. Arnold leverages this vocabulary via a transformer architecture to deal with the variable observation and action spaces of each task. This framework supports efficient multi-task, multi-embodiment learning and facilitates rapid adaptation to novel tasks. Finally, we analyze Arnold to provide insights into biological motor control, corroborating recent findings on the limited transferability of muscle synergies across tasks. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_18066 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Arnold: a generalist muscle transformer policy Chiappa, Alberto Silvio An, Boshi Simos, Merkourios Li, Chengkun Mathis, Alexander Robotics Artificial Intelligence Machine Learning Quantitative Methods Controlling high-dimensional and nonlinear musculoskeletal models of the human body is a foundational scientific challenge. Recent machine learning breakthroughs have heralded policies that master individual skills like reaching, object manipulation and locomotion in musculoskeletal systems with many degrees of freedom. However, these agents are merely "specialists", achieving high performance for a single skill. In this work, we develop Arnold, a generalist policy that masters multiple tasks and embodiments. Arnold combines behavior cloning and fine-tuning with PPO to achieve expert or super-expert performance in 14 challenging control tasks from dexterous object manipulation to locomotion. A key innovation is Arnold's sensorimotor vocabulary, a compositional representation of the semantics of heterogeneous sensory modalities, objectives, and actuators. Arnold leverages this vocabulary via a transformer architecture to deal with the variable observation and action spaces of each task. This framework supports efficient multi-task, multi-embodiment learning and facilitates rapid adaptation to novel tasks. Finally, we analyze Arnold to provide insights into biological motor control, corroborating recent findings on the limited transferability of muscle synergies across tasks. |
| title | Arnold: a generalist muscle transformer policy |
| topic | Robotics Artificial Intelligence Machine Learning Quantitative Methods |
| url | https://arxiv.org/abs/2508.18066 |