Learning Deployable Locomotion Control via Differentiable Simulation

Abstract

Differentiable simulators promise to improve sample efficiency in robot learning by providing analytic gradients of the system dynamics. Yet, their application to contact-rich tasks like locomotion is complicated by the inherently nonsmooth nature of contact, impeding effective gradient-based optimization. Existingworks thus often rely on soft contact models that provide smooth gradients but lack physical accuracy, constraining results to simulation. To address this limitation, we propose a differentiable contact model designed to provide informative gradients while maintaining high physical fidelity. We demonstrate the efficacy of our approach by training a quadrupedal locomotion policy within our differentiable simulator leveraging analytic gradients and successfully transferring the learned policy zero-shot to the real world. To the best of our knowledge, this represents the first successful sim-to-real transfer of a legged locomotion policy learned entirely within a differentiable simulator, establishing the feasibility of using differentiable simulation for real-world locomotion control.