SuperMimic: Training Humanoid Motion Control on One GPU
Can a differentiable world model make large-scale humanoid motion tracking a single-GPU experiment? This episode explains SuperMimic's training architecture, its comparison with SONIC, and what the experiments establish. We cover three questions: how reference motions and simulator transitions provide different kinds of supervision; why differentiating through predicted trajectories adds value beyond faster rollouts; and what a fair compute comparison should measure. The discussion follows simulation-based whole-body control using MuJoCo Warp and G1-retargeted BONES-SEED motions, alongside…
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