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

arXiv:2610.28480 · cs.RO · Submitted 2026-10-20 · Read on arXiv

cs.RO

Submitted: 2026-10-20

Updated: 2026-10-20

Comments: Accepted at CoRL 2026 (Oral). Project website: https://supermimic.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• World Model — 1× in this paper · explained in 7 episodes

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