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  "abstract": "Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a contact force model that predicts sensor values for robotic control. One of the methods includes continually providing, to a robot, control signals for performing a manipulation task of an object in the operating environment of the robot, including receiving data representing a current state of the robot, providing the current state of the robot to a contact force model configured to generate predicted sensor values based on the current state of the robot, receiving, as output of the contact force model, one or more predicted sensor values, and updating the control signals for the robot based on the one or more predicted sensor values",
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    "SCHAAL STEFAN",
    "TRACY KEVIN SLEDGE"
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  "title": "Robot contact force model",
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