The Shortcomings of Force-from-Motion in Robot Learning

TL;DR

This paper critiques the limitations of motion-centric action spaces in robot learning, emphasizing the need for interaction-explicit control to improve manipulation accuracy.

Contribution

It advocates for adopting interaction-explicit action spaces in robot learning, highlighting potential improvements over traditional motion-centric approaches.

Findings

Motion-centric approaches lack explicit control over physical interactions.

Interaction-explicit action spaces can enhance manipulation performance.

Current methods may lead to suboptimal physical interaction control.

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.