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Frozen transfer to xArm7/MoveIt requires no xArm-specific retraining and candidate-level deployment-feasibility prediction reaches 81.25% recall, 85.20% specificity, and 83.23% balanced accuracy.
The method retains a nominal task-space controller for structured insertion and seating, while residual PPO supplies bounded local corrections and decides when to release and supports a hybrid design in which geometry preserves reliable task structure and learning is concentrated on the contact-sensitive behaviour that fixed rules handle poorly.
