A Doosan M0609 cobot learns to assemble a Soma cube with a legal-action-masked DQN and ZYZ singularity guard, achieving 75% real-robot assembly success in 300 trials.
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Learning to Assemble the Soma Cube with Legal-Action Masked DQN and Safe ZYZ Regrasp on a Doosan M0609
A Doosan M0609 cobot learns to assemble a Soma cube with a legal-action-masked DQN and ZYZ singularity guard, achieving 75% real-robot assembly success in 300 trials.