diff --git a/README.md b/README.md
index ff120c7c..95c1d23b 100644
--- a/README.md
+++ b/README.md
@@ -50,7 +50,7 @@ Project Page: <https://genesis-embodied-ai.github.io/>
 - **Wide range of material models**: Simulation and coupling of rigid bodies, liquids, gases, deformable objects, thin-shell objects, and granular materials.
 - **Compatibility with various robots**: Robotic arms, legged robots, drones, *soft robots*, and support for loading `MJCF (.xml)`, `URDF`, `.obj`, `.glb`, `.ply`, `.stl`, and more.
 - **Photo-realistic rendering**: Native ray-tracing-based rendering.
-- **Differentiability**: Genesis is designed to be fully differentiable. Currently, our MPM solver and Tool Solver support differentiability, with other solvers planned for future versions.
+- **Differentiability**: Genesis is designed to be fully differentiable. Currently, our MPM solver and Tool Solver support differentiability, with other solvers planned for future versions (starting with rigid & articulated body solver).
 - **Physics-based tactile simulation**: Differentiable [tactile sensor simulation](https://github.com/Genesis-Embodied-AI/DiffTactile) coming soon (expected in version 0.3.0).
 - **User-friendliness**: Designed for simplicity, with intuitive installation and APIs.