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∇Mimic: Efficient Whole-Body Control for Humanoid Robots with Differentiable Simulation

The authors propose ∇Mimic, which uses exact gradients from a differentiable simulator to train whole-body motion-tracking policies for humanoid robots, reaching a score of 0.82 in 20 minutes and 0.874 in 1.8 hours on a single GPU, whereas the world-model method takes 1.2 hours to reach 0.82.

Part of the event: ∇Mimic: Differentiable Simulation Accelerates Humanoid Whole-Body Control

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