# CASOG: Conservative Actor–Critic With SmOoth Gradient for Skill Learning in Robot-Assisted Intervention

> Research article (IEEE Transactions on Industrial Electronics, 2023) · cited 16× · AI/ML

**Wikidata**: [openalex:W4386825405](https://www.wikidata.org/wiki/openalex:W4386825405)  
**Source**: https://4ort.xyz/entity/casog-conservative-actorcritic-with-smooth-gradient-for-skill-learning-in-robot-assisted-intervention