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 all tasks besides Block Stack, we collect 100 teleoperated demon- strations with the Apple Vision Pro [28, 29] for each task
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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.