@article{tunetolearnhowcontrollergainsshaperobotp,
  title = {Tune to Learn: How Controller Gains Shape Robot Policy Learning},
  author = {Antonia Bronars and Younghyo Park and Pulkit Agrawal},
  year = {2026},
  eprint = {2604.02523},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.02523},
}