• This paper introduces the motion taxonomy, a collection of robot-relevant features that can be used to describe actions in a binary-encoded format known as motion codes.
  • We show that motion codes better capture similarity between actions, which is corroborated by similarities based on force and trajectory data.


D. Paulius, Y. Huang, J. Meloncon, and Y. Sun (2019). “Manipulation Motion Taxonomy and Coding for Robots”. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. Macau, China, pp. 5596–5601.