@misc{indiciae5e9794207710,
  title = {Feedback error learning and nonlinear adaptive control.},
  author = {Jun Nakanishi and Stefan Schaal},
  year = {2004},
  doi = {10.1016/j.neunet.2004.05.003},
  url = {https://pubmed.ncbi.nlm.nih.gov/15541947/},
  note = {Source identifier: 15541947}
}