# SuperMimic: Scaling Humanoid Whole-Body Control with One Differentiable World Model

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/f6f54757908tjgbi4nooxvdva
- Original: https://arxiv.org/abs/2610.28480

## Summary

SuperMimic uses a differentiable world model of shared dynamics to train the world model and the tracking policy together in a single training loop, giving the policy analytic gradients through backpropagation-through-time over short imagined rollouts.

## Why it matters

The paper lays out a concrete path for replacing large-scale reinforcement learning training with a single differentiable world model and provides compute comparison data, making it possible to assess its impact on scaling humanoid whole-body control.