A method, system and computer program product for training a control input system involve taking an integral of an output value from a Motion Decision Neural Network for one or more movable joints to generate an integrated output value and comparing the integrated output value to a backlash threshold. A subsequent output value is generated using a machine learning algorithm that includes a sensor value and a previous joint position if the integrated output value does not at least meet the threshold. A position of the one or more movable joints is simulated based on an integral of the subsequent output value; and the Motion Decision Neural Network is trained with the machine learning algorithm based upon at least a result of the simulation of the position of the one or more movable joints.