@article{variableimpedancecontrolinendeffector,
  title = {Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks},
  author = {Roberto Martín-Martín and Michelle A. Lee and Rachel Gardner and Silvio Savarese and Jeannette Bohg and Animesh Garg},
  year = {2019},
  eprint = {1906.08880},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1906.08880v2},
}