Before revision:  Experiments were conducted to telemanipulate a cup for three principal tasks: usage, move, and handover by remotely controlling a 3-finger gripper and 2-finger gripper . Results demonstrated that the proposed model effectively learned the knowledge of preferred assistance, and knowledge transfer between robots allows this semi-autonomous telemanipulation strategy to be scaled up with less training efforts .
After revision:  Experiments were conducted to telemanipulate a 3-finger hand and 2-finger hand, respectively, to use, move, and handover by remotely controlling a 3-finger gripper and 2-finger gripper . Results demonstrated that the proposed model effectively learned the knowledge of preferred assistance, and knowledge transfer between robots allows this semi-autonomous telemanipulation strategy to be scaled up with less training efforts .