diff --git a/unity/Runtime/Components/MjActuator.cs b/unity/Runtime/Components/MjActuator.cs
index 4bdffe87..a72ba30c 100644
--- a/unity/Runtime/Components/MjActuator.cs
+++ b/unity/Runtime/Components/MjActuator.cs
@@ -77,12 +77,17 @@ public class MjActuator : MjComponent {
     }
 
     public void FromMjcf(XmlElement mjcf) {
-      CtrlLimited = mjcf.GetBoolAttribute("ctrllimited", defaultValue: false);
-      ForceLimited = mjcf.GetBoolAttribute("forcelimited", defaultValue: false);
       CtrlRange = mjcf.GetVector2Attribute("ctrlrange", defaultValue: Vector2.zero);
       ForceRange = mjcf.GetVector2Attribute("forcerange", defaultValue: Vector2.zero);
       LengthRange = mjcf.GetVector2Attribute("lengthrange", defaultValue: Vector2.zero);
       Gear = mjcf.GetFloatArrayAttribute("gear", defaultValue: new float[] { 1.0f }).ToList();
+
+      bool autolimits = mjcf.OwnerDocument.GetElementsByTagName("compiler")[0] is not XmlElement
+          compilerElement || compilerElement.GetBoolAttribute("autolimits", true);
+      CtrlLimited = mjcf.GetBoolAttribute("ctrllimited",
+          defaultValue: autolimits ? CtrlRange != Vector2.zero : false);
+      ForceLimited = mjcf.GetBoolAttribute("forcelimited",
+          defaultValue: autolimits ? ForceRange != Vector2.zero : false);
     }
   }