AL-ProMP: Force-relevant skills learning and generalization method for robotic polishing

•A force-relevant skills learning and generalizing method that directly maps position and contact force data is proposed to improve the efficiency and generalization of robot polishing force planning.•A polishing contact point learning method considering the torque in polishing area is proposed to reduce the influence of torque on the contact point estimation results.•A scaling factor of polishing force between different polishing tools is proposed, and it can be used for robotic disc polishing skill learning.•Trajectory and contact force generalization among polishing discs can be ensured.