ETH researcher vibe-codes SuperMimic humanoid control repro in 1 hour
ChongZzZhang · x · 2026-10-22
Chong Zhang (ETH Zurich) open-sourced supermimicvibed, a from-scratch reproduction of SuperMimic (differentiable world model for humanoid whole-body control), vibe-coded with Claude in 1 hour.
- Targets the paper's LAFAN1 benchmark: 40 G1-retargeted clips (2.45h), single GPU; the paper hits normalized return 0.82 in 1.2h on an H100
- His version passes LAFAN within 1.5 GPU-hours on one GPU
- Built on Isaac Lab 3 with the MuJoCo-Warp (mjwarp) solver; flat-floor contact works well despite soft modeling
- Open issue: contact friction remains hard for pure neural dynamics models — low-friction motions fail, though trillions of interactive samples may get NNs roughly there
The repo is MIT-licensed and deliberately "slop" — fast and unreviewed — but shows how cheap reproducing world-model robotics research has become.
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