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.

翻译：机器人操作需要精确的运动与物理交互控制。然而，当前机器人学习方法主要关注以运动为中心的动作空间，这些空间并未明确赋予策略对交互过程的控制权。本文探讨了这一选择带来的影响，并主张在机器人学习中采用更具交互显式性的动作空间。