@article{optimizingcontrolfriendlytrajectorieswit,
  title = {Optimizing Control-Friendly Trajectories with Self-Supervised Residual Learning},
  author = {Kexin Guo and Zihan Yang and Yuhang Liu and Jindou Jia and Xiang Yu},
  year = {2026},
  eprint = {2601.02738},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2601.02738},
}