Before revision:  We evaluate our method on simulated planar pushing and peg-in-hole as well as real robot peg-in-hole problems against adaptive control and reinforcement learning baselines, where traps arise due to unexpected obstacles that we only observe through contact.
After revision:  We evaluate our method on simulated planar pushing and peg-in-hole as well as real robot peg-in-hole problems against adaptive control , reinforcement learning, trap-handling baselines, where traps arise due to unexpected obstacles that we only observe through contact.