@article{shardnettrainingneuralcontrollerswithhar,
  title = {ShardNet: Training Neural Controllers with Hard, Non-Convex Constraints},
  author = {Long Kiu Chung and Shreyas Kousik},
  year = {2026},
  eprint = {2606.30935},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.30935},
}