  Separate samples of charged-current pion production events representing two
semi-inclusive channels $\nu_\mu$-CC($\pi^{+}$) and
$\bar{\nu}_{\mu}$-CC($\pi^{0}$) have been obtained using neutrino and
antineutrino exposures of the MINERvA detector. Distributions in kinematic
variables based upon $\mu^{\pm}$-track reconstructions are analyzed and
compared for the two samples. The differential cross sections for muon
production angle, muon momentum, and four-momentum transfer $Q^2$, are
reported, and cross sections versus neutrino energy are obtained. Comparisons
with predictions of current neutrino event generators are used to clarify the
role of the $\Delta(1232)$ and higher-mass baryon resonances in CC pion
production and to show the importance of pion final-state interactions. For the
$\nu_\mu$-CC($\pi^{+}$) ($\bar{\nu}_{\mu}$-CC($\pi^{0}$)) sample, the absolute
data rate is observed to lie below (above) the predictions of some of the event
generators by amounts that are typically 1-to-2 $\sigma$. However the
generators are able to reproduce the shapes of the differential cross sections
for all kinematic variables of either data set.
