Koonce, Philip, Vasha Dutell, Jose Farrington, Vladimir Sukhoy, and Alexander Stoytchev. “Toward Learning to Solve Insertion Tasks: A Developmental Approach Using Exploratory Behaviors and Proprioception”. Proceedings of the AAAI Conference on Artificial Intelligence 25, no. 1 (August 4, 2011): 1798–1799. Accessed May 7, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/8062.