SuperMimic trains Unitree G1 whole-body motion with a differentiable world model
Model-based training could cut the compute and sim-hours that RL pipelines demand, but the sim-to-real gap on contact-rich edge cases becomes the new bottleneck. Teams building motion-tracking skills for humanoids can test SuperMimic against their existing DreamerV3-style or PPO pipelines using the open GitHub code. Anyone deploying G1-class robots in unstructured environments should weigh the noted failure modes on collisions and slippage before relying on it.
