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MuJoCo Warp documentation: Differentiability.

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Taylor Howell
2025-11-24 09:12:38 -08:00
committed by Copybara-Service
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@@ -373,6 +373,16 @@ For examples that train policies with MJWarp physics, please see:
- `mjlab <https://github.com/mujocolab/mjlab>`__: Train directly with MJWarp using PyTorch. - `mjlab <https://github.com/mujocolab/mjlab>`__: Train directly with MJWarp using PyTorch.
- `MuJoCo Playground <https://github.com/google-deepmind/mujoco_playground>`__: Train via :ref:`MJX API <mjx>`. - `MuJoCo Playground <https://github.com/google-deepmind/mujoco_playground>`__: Train via :ref:`MJX API <mjx>`.
Features
--------
**Is MJWarp differentiable?**
No. MJWarp is not currently differentiable via
Warp's `automatic differentiation <https://nvidia.github.io/warp/modules/differentiability.html#differentiability>`__
functionality. Updates from the team related to enabling automatic differentiation for MJWarp are tracked in this
`GitHub issue <https://github.com/google-deepmind/mujoco_warp/issues/500>`__.
Orientation representation Orientation representation
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