Potential-Field Action Representation for Reinforcement Learning in Contact-Rich Manipulation

arXiv:2609.21609 · cs.RO, cs.AI · Submitted 2026-09-18 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-18

Updated: 2026-09-18

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Fine-Tuning — 1× in this paper · explained in 5 episodes

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