Embodiments of the present disclosure relate to learning digital twins of radio environments. Differentiable ray tracing may be used to refine the scene geometry of the physical environment, to learn or optimize the scene properties of objects in the scene, to learn or optimize the scene properties of antennas, and to learn or optimize antenna patterns, array geometries, and orientations and positions of transmitters and receivers. Once scene properties have been learned or optimized, the differentiable ray tracer may further be used to simulate radio wave propagation to simulate the performance of different configurations of the scene geometry and radio devices, such as antennas. In an embodiment, one or more of the scene geometry, scene properties, and antenna characteristics are computed by a differentiable parametric function, such as a neural network, etc. and parameters of the differentiable parametric function are learned using the differentiable ray tracing.