Reinforcement learning environments with musculoskeletal models

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Posted by Lukasz_ almost 2 years ago | Quote

Excitation turn the muscles on and off, but not instantaneously – you can find a brief explanation of these relations here https://simtk-confluence.stanford.edu:8443/display/OpenSim/First-Order+Activation+Dynamics Partially or fully activated muscle ‘pulls’ body parts and generates angular accelerations. Indeed accelerations are not in the observation vector, but in theory, you could model them as a function of excitations, since the mathematics of the biomechanical model are fixed. So it is fully observed. Formally, the only unknowns are positions of obstacles, so it’s not fully observed in this sense (yet, we give partial information about the next obstacle).

I am not sure whether this is considered a fully observed environment or not, since we only have the velocity and angular velocity.