supermimic_vibed

Unofficial reproduction of SuperMimic: Scaling Humanoid Whole-Body Control with One Differentiable World Model (arXiv 2610.28480) — no official code is released, so everything here is implemented from the paper. Target experiment: the controlled LAFAN1 comparison (Fig. 4a): 40 G1-retargeted LAFAN1 clips (2.45 h), one GPU; the paper reaches evaluation normalized return 0.82 after 1.2 h on an H100.