Paper ID: 2407.02904

The Shortcomings of Force-from-Motion in Robot Learning

Elie Aljalbout, Felix Frank, Patrick van der Smagt, Alexandros Paraschos

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.

Submitted: Jul 3, 2024