Younghyo Park
@younghyo_park
Robotics Ph.D. student at @MIT_CSAIL, advised by @pulkitology
499 Following 1.7K Followers
What's different between these two BC policies? It's the same architecture, training budget, and data collection setup — the only difference is the controller gains!
Controller gains are an understudied design parameter in robot learning. In our new work (w/ @BronarsToni*, @pulkitology), we show how they act as an inductive bias across BC, RL, and Sim2Real transfer, with real consequences on performance. Here's what we found 🧵
* Equal Contribution
📄arxiv:
🔗website:
Show more
