Process Simulation Using Physical Joining Models for Learning Robot-based Assembly Tasks. - Arik Lämmle; Balázs András Bálint (ETFA, 2020)

Simulation-based Learning of the Peg-in-Hole Process Using Robot-Skills. - Arik Lämmle; Philipp Tenbrock; Balázs András Bálint; Frank Nägele; Werner Kraus; József Váncza; Marco F. Huber (IROS, 2022)

Skill-based Robot Programming in Mixed Reality with Ad-hoc Validation Using a Force-enabled Digital Twin. - Jan Krieglstein; Gesche Held; Balázs András Bálint; Frank Nägele; Werner Kraus (ICRA, 2023)