Ehh, there’s a lot that goes into it. Just because a physics engine is differentiable doesn’t mean that its gradients going to be useful. For example, if you l

Ehh, there’s a lot that goes into it. Just because a physics engine is differentiable doesn’t mean that its gradients going to be useful. For example, if you look at Brax/Mujoco in JAX, the gradients generated by Mujoco are absolute garbage if you’re trying to train a robotics controller, but the more video-game like engines give pretty good results (see https://github.com/jiawei-ren/diffmimic https://github.com/jiawei-ren/diffmimic).