Hierarchical Task-Parameterized Learning from Demonstration for Collaborative Object Movement

Algorithm 1

Given demonstrations for situations and test situation , find a trajectory for the test situation using vanilla TP-GMM.

procedure VT-TRAIN(, )

  ENCODE(, )

 return

procedure VT-TEST(, )

  DECODE(, )

  GMR(, )

 return

procedure ENCODE(, )

 for to do

  for to do

   for to do

   FITGMM())

 return

procedure DECODE(, )

  for to do

   for to do

  return

procedure GMR(, )

  for to do

  return