@article{learningroboticmanipulationskillsusingan,
  title = {Learning Robotic Manipulation Skills Using an Adaptive Force-Impedance Action Space},
  author = {Maximilian Ulmer and Elie Aljalbout and Sascha Schwarz and Sami Haddadin},
  year = {2021},
  eprint = {2110.09904},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2110.09904v2},
}