# Learning Contact-Rich Assembly Skills Using Residual Admittance Policy

> Research article (2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021) · cited 15× · AI/ML

**Wikidata**: [openalex:W4200173225](https://www.wikidata.org/wiki/openalex:W4200173225)  
**Source**: https://4ort.xyz/entity/learning-contact-rich-assembly-skills-using-residual-admittance-policy