{"id":"https://openalex.org/W7161109788","doi":"https://doi.org/10.48550/arxiv.2605.13067","title":"When Absolute State Fails: Evaluating Proprioceptive Encodings for Robust Manipulation","display_name":"When Absolute State Fails: Evaluating Proprioceptive Encodings for Robust Manipulation","publication_year":2026,"publication_date":"2026-05-13","ids":{"openalex":"https://openalex.org/W7161109788","doi":"https://doi.org/10.48550/arxiv.2605.13067"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.13067","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.13067","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.13067","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047399185","display_name":"Maxime Alvarez","orcid":"https://orcid.org/0000-0002-3070-7715"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alvarez, Maxime","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136131411","display_name":"Ryo Watanabe","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Watanabe, Ryo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136160257","display_name":"Paul Crook","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Crook, Paul","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007073141","display_name":"Afshin Zeinaddini Meymand","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Meymand, Afshin Zeinaddini","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136107393","display_name":"Suvin Kurian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kurian, Suvin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136148476","display_name":"Pablo Ferreiro","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ferreiro, Pablo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5120058413","display_name":"Genki Sano","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sano, Genki","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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":0.7603999972343445,"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":0.7603999972343445,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.12210000306367874,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.015599999576807022,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6421999931335449},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5813999772071838},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5001999735832214},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.43369999527931213},{"id":"https://openalex.org/keywords/reference-frame","display_name":"Reference frame","score":0.4318999946117401},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.40860000252723694},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.38190001249313354},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.3813999891281128},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.3763999938964844}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7188000082969666},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6421999931335449},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6366999745368958},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5813999772071838},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5001999735832214},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.43369999527931213},{"id":"https://openalex.org/C172849965","wikidata":"https://www.wikidata.org/wiki/Q3148875","display_name":"Reference frame","level":3,"score":0.4318999946117401},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.40860000252723694},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.38269999623298645},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.38190001249313354},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3813999891281128},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.3763999938964844},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.3758000135421753},{"id":"https://openalex.org/C16910744","wikidata":"https://www.wikidata.org/wiki/Q7705759","display_name":"Test data","level":2,"score":0.3743000030517578},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.35929998755455017},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35249999165534973},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.3465000092983246},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.31859999895095825},{"id":"https://openalex.org/C2777267654","wikidata":"https://www.wikidata.org/wiki/Q3519023","display_name":"Test (biology)","level":2,"score":0.3151000142097473},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.2994000017642975},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2799000144004822},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2718000113964081},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.26759999990463257},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.2632000148296356},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.25380000472068787},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.25360000133514404},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.25189998745918274},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.25130000710487366},{"id":"https://openalex.org/C74992021","wikidata":"https://www.wikidata.org/wiki/Q184876","display_name":"Frame of reference","level":2,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.13067","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.13067","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.13067","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.13067","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"As":[0],"end-to-end":[1],"robotic":[2],"policies":[3],"are":[4,62],"progressively":[5],"deployed":[6],"in":[7,38,131,136],"the":[8,20,26,31,80,90,120,129],"real":[9,13],"world":[10],"to":[11,94,147,160],"solve":[12],"tasks,":[14],"they":[15],"face":[16],"a":[17,69,84,105,114,137,144],"gap":[18],"between":[19,123],"training":[21,32],"and":[22,28,98,126,158],"inference":[23],"conditions.":[24,52],"Scaling":[25],"amount":[27],"diversity":[29],"of":[30,60,79,86,108,156],"data":[33,149],"has":[34],"shown":[35],"some":[36],"success":[37],"improving":[39],"zero-shot":[40],"generalization,":[41],"yet":[42],"robots":[43,56,152],"still":[44],"fail":[45],"when":[46],"faced":[47],"with":[48,57,65,153],"new,":[49],"unseen":[50,161],"test":[51,102,139,162],"For":[53],"instance,":[54],"while":[55],"fixed":[58],"frames":[59,67,155],"reference":[61,157],"common,":[63],"those":[64],"moving":[66],"pose":[68],"greater":[70],"challenge":[71],"for":[72,88],"deployment.":[73],"To":[74],"address":[75],"this":[76],"specific":[77],"instance":[78],"issue,":[81],"we":[82,111],"present":[83],"study":[85,107],"strategies":[87],"encoding":[89],"robot's":[91],"proprioceptive":[92],"state":[93],"improve":[95],"both":[96],"in-":[97],"out-of-distribution":[99],"performance":[100,125],"at":[101],"time.":[103],"Through":[104],"systematic":[106],"joint":[109],"representations,":[110],"find":[112],"that":[113],"simple":[115],"episode-wise":[116],"relative":[117],"frame":[118],"provides":[119],"best":[121],"trade-off":[122],"task":[124],"robustness,":[127],"outperforming":[128],"baselines":[130],"extensive":[132],"real-robot":[133],"experiments":[134],"conducted":[135],"realistic":[138],"environment.":[140],"The":[141],"results":[142],"suggest":[143],"practical":[145],"path":[146],"leveraging":[148],"collected":[150],"by":[151],"varying":[154],"deployment":[159],"configurations.":[163]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-05-15T00:00:00"}