TERRA reconstructs terrain from kinematics alone, letting a muscle-actuated body complete stairs, ramps and seats
TERRA presents an end-to-end pipeline that, from scene-less kinematic trajectories alone, combines terrain priors, estimated contacts and negative free-space evidence to recover task-relevant support geometry, adds anatomical, tendon-continuity and contact constraints during retargeting, and uses motion-terrain pairs from five datasets to train a single muscle-actuated control policy, improving terrain accuracy, sharply reducing anatomical and interaction violations, and achieving the highest completion rate over supported terrain families across reconstruction, retargeting and held-out tracking benchmarks.