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Hybrid Trajectory and Force Learning of Complex Assembly Tasks: A Combined Learning Framework

Combining imitation learning with reinforcement learning to solve complex robotic assembly tasks.

Variable Compliance Control for Robotic Peg-in-Hole Assembly: A Deep Reinforcement Learning Approach

Code available on request

Learning Force Control for Contact-rich Manipulation Tasks with Rigid Position-controlled Robots

A learning-based force control framework for position-controlled robots