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InstantMimic: A High Performance System for Learning Physics-based Skills in Seconds

arXiv · AI, language, vision and robotics · article · Sep 9, 2026 · UTC

Physics-based character control is a long-standing challenge in computer graphics and robotics, requiring policies that satisfy complex dynamics while producing realistic motion. Recent Deep RL approaches, particularly imitation learning methods such as DeepMimic, have had broad impact beyond animation, influencing robotics by enabling agile and expressive behaviors. While these approaches achieve impressive results, they remain computationally inefficient to train in practice. Despite GPU-accelerated simulation, we find that end-to-end pipelines often underutilize hardware due to overheads ou

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