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    "headline": "Three Hours of Training Replace Three Years of Motion",
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    "dek": "A 6,924-parameter reduced model trained a soft-arm controller that deployed without fine-tuning.",
    "summary": "A 6,924-parameter reduced model trained a soft-arm controller that deployed without fine-tuning.",
    "body_text": "A six-dimensional dynamics model learned in five minutes served as the reinforcement-learning environment for a pneumatic soft arm. Training took three hours, versus an estimated three years of equivalent hardware interaction, and tracking error was 40 percent lower than policies trained on the compared RNN and transformer models.",
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    "tags": [
      "soft robotics",
      "reinforcement learning"
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      "title": "arXiv preprint 2611.11718, original v1",
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    "title": "Three Hours of Training Replace Three Years of Motion",
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