{"id":"https://openalex.org/W7165156120","doi":"https://doi.org/10.48550/arxiv.2606.18594","title":"Benchmarking Action Spaces in Reinforcement Learning for Vision-based Robotic Manipulation","display_name":"Benchmarking Action Spaces in Reinforcement Learning for Vision-based Robotic Manipulation","publication_year":2026,"publication_date":"2026-06-17","ids":{"openalex":"https://openalex.org/W7165156120","doi":"https://doi.org/10.48550/arxiv.2606.18594"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.18594","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.18594","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2606.18594","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011965737","display_name":"Seyed Alireza Azimi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Azimi, Seyed Alireza","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052295104","display_name":"Homayoon Farrahi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Farrahi, Homayoon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138844699","display_name":"Abhishek Naik","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Naik, Abhishek","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033365772","display_name":"Colin Bellinger","orcid":"https://orcid.org/0000-0002-3567-7834"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bellinger, Colin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138846086","display_name":"A. Rupam Mahmood","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mahmood, A. Rupam","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":0.9124000072479248,"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":0.9124000072479248,"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":0.061000000685453415,"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/T10982","display_name":"Motor Control and Adaptation","score":0.007899999618530273,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7407000064849854},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7249000072479248},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6769000291824341},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5896000266075134},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5375000238418579},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.526199996471405},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.5152000188827515},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.508899986743927}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7407000064849854},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7249000072479248},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6769000291824341},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6571999788284302},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6223999857902527},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5896000266075134},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5375000238418579},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.526199996471405},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.5152000188827515},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.508899986743927},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45080000162124634},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.44290000200271606},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.43529999256134033},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4334000051021576},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.43320000171661377},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.42590001225471497},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36980000138282776},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3553999960422516},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34220001101493835},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.33640000224113464},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2842999994754791},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.267300009727478},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.26579999923706055},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2590999901294708},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.25780001282691956}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.18594","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.18594","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.18594","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.18594","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":{"In":[0,24,73],"real-world":[1,116],"reinforcement":[2],"learning":[3],"(RL),":[4],"the":[5,57,78,86],"choice":[6],"of":[7,94],"action":[8,81,110],"space":[9,82],"can":[10],"play":[11],"a":[12],"key":[13],"role":[14],"in":[15,51,92,108],"shaping":[16],"motion":[17],"smoothness,":[18],"safety,":[19],"and":[20,36,46,53,89,96,115],"overall":[21],"task":[22,98],"performance.":[23,72,99],"this":[25],"study,":[26],"we":[27,75],"evaluate":[28],"pose":[29,31],"increment,":[30,35],"velocity,":[32],"joint":[33,37,79],"position":[34],"velocity":[38,80],"across":[39],"two":[40],"vision-based":[41,87],"manipulation":[42],"tasks:":[43],"object":[44],"picking":[45,88],"pushing.":[47],"We":[48,63,100],"train":[49],"policies":[50],"simulation":[52,114],"deploy":[54],"them":[55],"to":[56],"real":[58],"world":[59],"using":[60],"sim-to-real":[61,71],"transfer.":[62],"find":[64,76],"that":[65,77],"action-space":[66],"representation":[67],"indeed":[68],"significantly":[69],"affects":[70],"particular,":[74],"is":[83],"best":[84],"for":[85,105,112],"pushing":[90],"tasks":[91],"terms":[93],"smoothness":[95],"final":[97],"also":[101],"provide":[102],"practical":[103],"guidance":[104],"RL":[106],"practitioners":[107],"choosing":[109],"spaces":[111],"both":[113],"experiments.":[117]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-19T00:00:00"}