The Shortcomings of Force-from-Motion in Robot Learning

• URL: http://arxiv.org/abs/2407.02904v1
• Date: Wed, 3 Jul 2024 08:23:02 GMT
• Title: The Shortcomings of Force-from-Motion in Robot Learning
• Authors: Elie Aljalbout, Felix Frank, Patrick van der Smagt, Alexandros Paraschos,
• Abstract summary: We argue for more interaction-explicit action spaces in robot learning. Current robot learning approaches focus on motion-centric action spaces that do not explicitly give the policy control over the interaction.
• Score: 48.036338624248835
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Robotic manipulation requires accurate motion and physical interaction control. However, current robot learning approaches focus on motion-centric action spaces that do not explicitly give the policy control over the interaction. In this paper, we discuss the repercussions of this choice and argue for more interaction-explicit action spaces in robot learning.

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