Action Representations in Robotics: A Taxonomy and Systematic Classification
Philipp Zech, Erwan Renaudo, Simon Haller, Xiang Zhang, Justus Piater

TL;DR
This paper reviews and classifies action representations in robotics, proposing a taxonomy and systematic survey to clarify the concept and guide future research in robotic manipulation skills.
Contribution
It introduces a novel taxonomy for categorizing action representations and provides a comprehensive systematic literature survey in robotics.
Findings
Established a taxonomy for action representations
Categorized existing literature along the taxonomy
Identified promising future research directions
Abstract
Understanding and defining the meaning of "action" is substantial for robotics research. This becomes utterly evident when aiming at equipping autonomous robots with robust manipulation skills for action execution. Unfortunately, to this day we still lack both a clear understanding of the concept of an action and a set of established criteria that ultimately characterize an action. In this survey we thus first review existing ideas and theories on the notion and meaning of action. Subsequently we discuss the role of action in robotics and attempt to give a seminal definition of action in accordance with its use in robotics research. Given this definition we then introduce a taxonomy for categorizing action representations in robotics along various dimensions. Finally, we provide a systematic literature survey on action representations in robotics where we categorize relevant literature…
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Taxonomy
TopicsRobot Manipulation and Learning · Action Observation and Synchronization · Reinforcement Learning in Robotics
