The Shortcomings of Force-from-Motion in Robot Learning

Elie Aljalbout, Felix Frank, Patrick van der Smagt, Alexandros Paraschos
7/3/2024
cs.ROcs.AIcs.LG

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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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Cite this paper

@article{aljalbout2024shortcomings,
  title  = {The Shortcomings of Force-from-Motion in Robot Learning},
  author = {Elie Aljalbout and Felix Frank and Patrick van der Smagt and Alexandros Paraschos},
  year   = {2024},
  eprint = {2407.02904},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2407.02904v1}
}

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