Getting model to slide along floor

[aaprasad]

Intro

Hi!

I am a graduate student in the Brain and Cognitive Sciences department at MIT, I use MuJoCo for my research on models of neural mechanisms underlying embodied control.

My setup

mujoco==3.3.2 and mujoco-mjx==3.3.2. Ubuntu

My question

I am trying to use imitation learning to have a biomechanical model of the nematode C. Elegans imitate behavioral videos. Currently my model seems to "propel" itself while the expert more "slides" along the floor. Ive attached a video below, the "ghost" body in the background is the expert which the foreground body model is attempting to imitate. I'm not sure if this is an issue if its an issue with the physics such as the friction of the environment or the joints I'm using or if this is just the solution my network converged to.

best_rollout.mp4.mp4

Minimal model and/or code that explain my question

celegans.zip

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.