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.
For each trial, users teleoperate a Franka Research 3 Robot with a SpaceMouse in order to push the box from an initial pose to the goal (Figure 18b)
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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.