Learning to Assemble the Soma Cube with Legal-Action Masked DQN and Safe ZYZ Regrasp on a Doosan M0609 - 2025-08-29 - Research Publication - The arXiv paper studies Soma cube assembly using a Doosan M0609 collaborative robot from the M Series family. The study’s named evaluation platform is M Series from Doosan Robotics. - source: arxiv.org