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

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/qz10rbwqlpq5vp2emzdxayj4t
- Original: https://arxiv.org/abs/2610.41654

## Summary

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.

## Why it matters

The paper presents a complete scheme for training humanoid policies with exact gradients under differentiable simulation and open-sources the engine and code, making it easy to compare the efficiency of first-order and zeroth-order methods.