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Across (a) Bimanual Handover (b) Dishrack Unload (c) Dishrack Load (d) Dishwasher Open (e) Mug Hang (f) Block Stack Fig

Ablation Training Configurations:We present ablation results across dataset size (Figure 23), policy architectures (Figure 24), action chunk size (Figure 25), action representati

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  • Tune to Learn: How Controller Gains Shape Robot Policy Learning cs.RO · 2026-04-02 · conditional · none · ref 36

    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.