@article{cotapcomplianttaskpipelineandreinforceme,
  title = {CoTaP: Compliant Task Pipeline and Reinforcement Learning of Its Controller with Compliance Modulation},
  author = {Zewen He and Chenyuan Chen and Dilshod Azizov and Yoshihiko Nakamura},
  year = {2025},
  eprint = {2509.25443},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2509.25443},
}