Device and method for training a neural network for controlling a robot for an inserting task

A method for training a neural network to derive, from an image of a camera mounted on a robot, a movement vector to insert an object into an insertion. The method includes, for a plurality of positions in which the object held by the robot touches a plane in which the insertion is located controlling the robot to move to the position, taking a camera image by the camera and labelling the camera image with a movement vector between the position and the insertion in the plane and training the neural network using the labelled camera images.