CLARU
xupei0610MIT

MUSIC: Learning Muscle-Driven Dexterous Hand Control

A dataset of hand motion capture data from piano performances retargeted to a musculoskeletal hand model, along with pretrained policies for joint-driven and muscle-driven piano playing control.

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Technical Profile

Modalities
motion_captureproprioceptionjoint_positionsjoint_velocities
Robot Embodiments
musculoskeletal_hand
Environment
simulation
Task Types
dexterous_manipulationpiano_playingmotion_tracking
Data Format
joblib
License
MIT
Part of the MUSIC: Learning Muscle-Driven Dexterous Hand Control family

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