ResearchBenchmarksRobotic Gear Assembly on Contact-rich gear assembly Hardware deployment (test)Robotic Gear Assembly on Contact-rich gear assembly Hardware deployment (test)Follow53.4Fmax [N]PPO20.22428.83737.4546.063Jun 26, 2026Evaluation resultsMethodMethodLinksFmax [N]tau_max [Nm]Ts [s]etrack [m]eh [m]PPO2026.0653.439.10.0120.01PPO-EAL2026.0628.7311.30.00790.0097PPO-EAL-mMomentum-regulated=trueMomentum-regulated=true2026.0621.52.69.30.0080.0099