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Building a repertoire of arm trajectories for ball throwing with a Baxter robot. Part 2 of 2 : refining trajectories on the real robot. The repertoire acquired in simulation is transferred in reality. In case of error, a local adaptation process modifies the trajectory to throw the ball to the expected target position. Part 1 of 2 can be found here: A robotic experiment in the DREAM european-funded H2020 project.
