arXiv:2407.02904
The Shortcomings of Force-from-Motion in Robot Learning
The Shortcomings of Force-from-Motion in Robot Learning
著者: Elie Aljalbout, Felix Frank, Patrick van der Smagt, Alexandros Paraschos
分類: cs.RO, cs.AI, cs.LG
原文アブストラクト
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.