Naturalmotion’s samples are incredible, it’s probably what got me interested in articulated characters. Thanks for the links, I’ve never seen Tyler Streeter’s page before. It’s cool that he includes source code. I think I first saw the “Flexible Muscle-Based Locomotion for Bipedal Creatures” demo at one of my favorite sites (MvdP Projects & Publications) a while back. I’ve got third party libraries for CMA-ES and neural nets working in UE4 but haven’t had the chance to try using them to learn tasks.