@article{mpcinjectionbiasingoffpolicylocomotionrl,
  title = {MPC-Injection: Biasing Off-Policy Locomotion RL Toward Controller-Induced Behavior Basins},
  author = {Roy Xing and Seyoung Ree and Brian Plancher},
  year = {2026},
  eprint = {2606.26392},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.26392},
}