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A comment on Computer simulations teaching themselves to walk.
http://www.cs.ubc.ca/~van/papers/2013-TOG-MuscleBasedBipeds/...
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http://www.cs.ubc.ca/~van/papers/2013-TOG-MuscleBasedBipeds/...
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http://www.cs.ubc.ca/~van/papers/2013-TOG-MuscleBasedBipeds/...