Special type of IK?

I came across the following devblog:


And i’m super curious about the technology behind this. Is this a specific IK algorithm? Or a mix of a lot of stuff? Can someone point me to a few articles? Thanks for the help identifying this.

Doesn’t look to be IK, strongly looks like a learning/evo based motors system.

Muscle Based Bipeds, follow the references for more material.

Locomotion Skills for Simulated Quadrupeds, might be more digestible and a bit less esoteric.

There’s a metric ton of these things floating around based on ODE.

Amazing. Thank you for the links! :relieved: