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.
Softmimic: Learning compliant whole-body control from examples
3 Pith papers cite this work. Polarity classification is still indexing.
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CEER proposes a compliant end-effector and root control interface that unifies loco-manipulation for humanoids via a distilled low-level policy and hierarchical planners.
ConstrainedMimic integrates operational space control and control barrier functions into RL tracking policies to enforce arbitrary runtime constraints on humanoid kinematics and dynamics while preserving contact modes and tracking goals.
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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.