Controller gains affect learnability differently for behavior cloning, RL from scratch, and sim-to-real transfer, so optimal gains depend on the learning paradigm rather than desired task behavior.
Pd control with desired gravity compensation of robotic manipulators: a review
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Tune to Learn: How Controller Gains Shape Robot Policy Learning
Controller gains affect learnability differently for behavior cloning, RL from scratch, and sim-to-real transfer, so optimal gains depend on the learning paradigm rather than desired task behavior.
- Behavior Cloning Under PD Control: A Finite-Horizon Theory of Gain-Dependent Error Amplification