@article{residuallearningfromdemonstration,
  title = {Residual Learning from Demonstration: Adapting DMPs for Contact-rich Manipulation},
  author = {Todor Davchev and Kevin Sebastian Luck and Michael Burke and Franziska Meier and Stefan Schaal and Subramanian Ramamoorthy},
  year = {2020},
  eprint = {2008.07682},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2008.07682v5},
}