Human body model: 206 joints and 700 muscles for MuJoCo (MS-Human-700)

MS-Human-700 is a MuJoCo-compatible digital human model built for whole-body biomechanics and control research. It represents the body with 90 segments, 206 joints and 700 muscle-tendon units, using anatomically plausible parameters to simulate movement and interaction with devices. The project combines this model with methods for controlling systems that have many coordinated, redundant actuators. Its demonstrations include locomotion, manipulation, soccer motions, running, ballet and detailed tracking of walking and running trajectories. GPU-parallel simulation with MuJoCo Warp supports faster policy training.

The research program explores complementary control strategies: DynSyn learns compact, muscle-synergy-inspired representations; MPC2 combines hierarchical planning with morphology-aware control for rapid, robust execution and adaptation to model changes or disturbances; and QFlex uses value-guided exploration in high-dimensional continuous action spaces. Other work investigates learning rewards from vision-language models and using the digital human to evaluate physical human-robot interaction, including optimizing exoskeleton design and control. The foundational model and locomotion-control work was published at ICRA 2024, with related methods presented or listed for ICML 2024, ICLR 2025 and 2026, and L4DC and IROS 2026. Together, the efforts aim to make physiologically grounded human simulation useful for embodied intelligence, robotics, medicine, sports and biomechanics.