{"id":"https://openalex.org/W4414969345","doi":"https://doi.org/10.48550/arxiv.2510.03599","title":"Learning to Act Through Contact: A Unified View of Multi-Task Robot Learning","display_name":"Learning to Act Through Contact: A Unified View of Multi-Task Robot Learning","publication_year":2025,"publication_date":"2025-10-04","ids":{"openalex":"https://openalex.org/W4414969345","doi":"https://doi.org/10.48550/arxiv.2510.03599"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2510.03599","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2510.03599","pdf_url":"https://arxiv.org/pdf/2510.03599","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2510.03599","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059251950","display_name":"Shafeef Omar","orcid":"https://orcid.org/0009-0003-9087-8385"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Omar, Shafeef","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5043216529","display_name":"Majid Khadiv","orcid":"https://orcid.org/0000-0001-9889-6543"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Khadiv, Majid","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5059251950"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9854999780654907,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9854999780654907,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6233000159263611},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.571399986743927},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5673999786376953},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4648999869823456},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44830000400543213},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.4447000026702881},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.38179999589920044},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.33180001378059387}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.689300000667572},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6233000159263611},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.572700023651123},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.571399986743927},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5673999786376953},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5199000239372253},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4648999869823456},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44830000400543213},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.4447000026702881},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.38179999589920044},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.33180001378059387},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3287000060081482},{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.322299987077713},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3050999939441681},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.29649999737739563},{"id":"https://openalex.org/C2779436431","wikidata":"https://www.wikidata.org/wiki/Q30672407","display_name":"Policy learning","level":2,"score":0.2915000021457672},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.27619999647140503},{"id":"https://openalex.org/C2780966255","wikidata":"https://www.wikidata.org/wiki/Q5474306","display_name":"Foundation (evidence)","level":2,"score":0.27390000224113464},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.25440001487731934},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.2524000108242035},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.25029999017715454}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2510.03599","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2510.03599","pdf_url":"https://arxiv.org/pdf/2510.03599","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2510.03599","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2510.03599","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2510.03599","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2510.03599","pdf_url":"https://arxiv.org/pdf/2510.03599","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0,83],"present":[1],"a":[2,14,31,34,57,63,72,93,98,107,122,160],"unified":[3],"framework":[4,86],"for":[5,22,163],"multi-task":[6],"locomotion":[7],"and":[8,42,91,103,106,135],"manipulation":[9,113],"policy":[10,59,77,124,157],"learning":[11,75,158],"grounded":[12,130],"in":[13,131],"contact-explicit":[15,156],"representation.":[16],"Instead":[17],"of":[18,30,36,66,116],"designing":[19],"different":[20,23,110,128],"policies":[21],"tasks,":[24,54],"our":[25,85],"approach":[26],"unifies":[27],"the":[28,48],"definition":[29],"task":[32],"through":[33],"sequence":[35],"contact":[37,39,81,147],"goals--desired":[38],"positions,":[40],"timings,":[41],"active":[43],"end-effectors.":[44],"This":[45],"enables":[46],"leveraging":[47],"shared":[49],"structure":[50],"across":[51,138],"diverse":[52],"contact-rich":[53],"leading":[55],"to":[56,78,126,152],"single":[58,123],"that":[60,145],"can":[61],"perform":[62],"wide":[64],"range":[65],"tasks.":[67,114],"In":[68],"particular,":[69],"we":[70],"train":[71],"goal-conditioned":[73],"reinforcement":[74],"(RL)":[76],"realise":[79],"given":[80],"plans.":[82],"validate":[84],"on":[87],"multiple":[88,96,101],"robotic":[89],"embodiments":[90],"tasks:":[92],"quadruped":[94],"performing":[95,100],"gaits,":[97,105],"humanoid":[99,108],"biped":[102],"quadrupedal":[104],"executing":[109],"bimanual":[111],"object":[112],"Each":[115],"these":[117],"scenarios":[118],"is":[119],"controlled":[120],"by":[121],"trained":[125],"execute":[127],"tasks":[129],"contacts,":[132],"demonstrating":[133],"versatile":[134],"robust":[136],"behaviours":[137],"morphologically":[139],"distinct":[140],"systems.":[141],"Our":[142],"results":[143],"show":[144],"explicit":[146],"reasoning":[148],"significantly":[149],"improves":[150],"generalisation":[151],"unseen":[153],"scenarios,":[154],"positioning":[155],"as":[159],"promising":[161],"foundation":[162],"scalable":[164],"loco-manipulation.":[165],"Video":[166],"available":[167],"at:":[168],"https://youtu.be/idHx67oHHU0?si=qZJ7C0ujemXNWgA5":[169]},"counts_by_year":[],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-09T00:00:00"}
