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Learning Skill Characteristics From Manipulations:

Zhou, Xiao-Hu ; Xie, Xiao-Liang ; Liu, Shi-Qi...
IEEE Transactions on Neural Networks and Learning Systems.  34 (2023)  12 - p. 9727-9741 , 2023
Link: https://doi.org/10.1109/tnnls.2022.3160159