@article{masteringcontactrichtasksbycombining,
  title = {Mastering Contact-rich Tasks by Combining Soft and Rigid Robotics with Imitation Learning},
  author = {Mariano Ramírez Montero and Ebrahim Shahabi and Giovanni Franzese and Jens Kober and Barbara Mazzolai and Cosimo Della Santina},
  year = {2024},
  eprint = {2410.07787},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2410.07787v2},
}