PAKT: Physically-Aligned Kinesthetic Teaching for Reinforcement Learning

arXiv:2609.25630 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Project page: https://pakt-website.github.io/pakt-website

Terminology

• Reinforcement Learning — 20× in this paper · explained in 4 episodes
• Benchmark — 7× in this paper · explained in 2 episodes
• Actor — 6× in this paper · explained in 3 episodes
• Admittance Control — 5× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 5× in this paper · explained in 2 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Human-in-the-Loop — 4× in this paper · explained in 3 episodes
• Action Space — 3× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Conference on Robot Learning — 2× in this paper
• Data Augmentation — 2× in this paper · explained in 7 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Functional Manipulation Benchmark — 2× in this paper
• Generalization — 2× in this paper · explained in 13 episodes
• International Journal of Robotics Research — 2× in this paper
• Reinforcement Learning (RL) — 2× in this paper · explained in 25 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Core — 1× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 1× in this paper
• Markov Decision Process (MDP) — 1× in this paper · explained in 11 episodes
• Online Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Soft Actor-Critic — 1× in this paper
• Soft Actor-Critic (SAC) — 1× in this paper · explained in 2 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulation
• TeleopLab: Accessible and Intuitive Teleoperation of a Robotic Manipulator for Remote Labs
• ALOHA Unleashed: A Simple Recipe for Robot Dexterity
• Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
• Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
• Towards Accessible Robot Control: Comparing Kinesthetic Teaching, SpaceMouse Teleoperation, and a Mixed Reality Interface
• Beyond Human Demonstrations: Diffusion-Based Reinforcement Learning to Generate Data for VLA Training
• Smooth Exploration for Robotic Reinforcement Learning
• Compliant Residual DAgger: Improving Real-World Contact-Rich Manipulation with Human Corrections
• AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System

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