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It also enables the robot to judge whether the desired operation target is achieved or the feature estimate needs to be updated. Meanwhile, the pliability model is introduced into repeatedly perform exploration, planning and execution steps to reduce interaction forces, the number of exploration. The effectiveness of the strategy is validated in simulations and in a physical robot task.Organic solvent nanofiltration (OSN) has evolved to an established recycling method for homogeneous catalysts. However, commercial availability has not c