Deep Reinforcement Learning for Contact-Rich Skills Using Compliant Movement Primitives. - Oren Spector; Miriam Zacksenhouse (CoRR, 2020)

Learning Contact-Rich Assembly Skills Using Residual Admittance Policy. - Oren Spector; Miriam Zacksenhouse (IROS, 2021)

InsertionNet - A Scalable Solution for Insertion. - Oren Spector; Dotan Di Castro (IEEE Robotics Autom. Lett., 2021)

InsertionNet 2.0: Minimal Contact Multi-Step Insertion Using Multimodal Multiview Sensory Input. - Oren Spector; Vladimir Tchuiev; Dotan Di Castro (ICRA, 2022)