# RILC: Reinforced Iterative Learning Control for Elastic-Joint Robotic Arms, Achieving Cross-Trajectory Generalization with Convergence Guarantees

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/xy8e3bassp0zk2m9isanxggp2
- Original: https://arxiv.org/abs/2610.28329

## Summary

This study proposes Reinforced Iterative Learning Control (RILC), which couples Iterative Learning Control (ILC) with Reinforcement Learning (RL) for trajectory tracking of elastic-joint robots, addressing the problems that traditional ILC must learn each new trajectory separately and that RL has high sample complexity and limited tracking accuracy.