@article{taskerrorresiduallearningforrealrobotfiv,
  title = {Task-Error Residual Learning for Real-Robot Five-Ball Juggling},
  author = {Kai Ploeger and Jan Peters},
  year = {2026},
  eprint = {2606.16978},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.16978},
}