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20242026
most citedA Convolution and Attention Based Encoder for Reinforcement Learning under Partial Observability

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cs.RO2026

CoRMA: Contrastive RMA for Contact-Rich Meta-Adaptation

Wentian Wang, Chutong Wen, Hongxu Ma +6

We present CoRMA(Contrastive Robotic Motor Adaptation), a context-based meta-adaptation framework that modifies RMA for force-dominant assembly. CoRMA replaces raw simulator-parame…