# Reflex-Informed Neuromuscular Reinforcement Learning for Muscle-Driven Locomotion

arXiv: https://arxiv.org/abs/2609.11733 · HTML: https://mlsanity.com/paper/2609.11733/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 3 of its 36 references that are in the map.
- First posted on arXiv 10 Sep 2026.

## Builds on (most cited first, 3 of 3)

- [Maximum a Posteriori Policy Optimisation](https://mlsanity.com/paper/1806.06920/) (2018)
- [Learning Locomotion Skills Using DeepRL: Does the Choice of Action Space Matter?](https://mlsanity.com/paper/1611.01055/) (2016)
- [DEP-RL: Embodied Exploration for Reinforcement Learning in Overactuated and Musculoskeletal Systems](https://mlsanity.com/paper/2206.00484/) (2022)

## Abstract (arXiv)

Muscle-driven locomotion provides a physically grounded approach to generating realistic human movement. However, achieving both physiological plausibility and adaptability to changes in musculoskeletal capacity and external disturbances remains a fundamental challenge. To address this limitation, we propose a Reflex-Informed Neuromuscular Reinforcement Learning framework for muscle-driven locomotion. Within this framework, a fixed phase-dependent reflex controller serves as the underlying neuromuscular control mechanism, while the reinforcement learning policy produces four biomechanically meaningful residual parameters to modulate key reflex gains and thresholds associated with hip swing, knee support, and ankle propulsion according to the current state. Experimental results demonstrate that the proposed framework generates physiologically plausible locomotion with improved kinematic accuracy and dynamic consistency, as well as better bilateral symmetry and stride-to-stride consistency under nominal walking conditions. The learned policy remains robust under muscle weakness and external perturbations without retraining.