Applied Bionics and Biomechanics / 2019 / Article / Alg 4

Research Article

Hierarchical Task-Parameterized Learning from Demonstration for Collaborative Object Movement

Algorithm 4

Given demonstrations for situations and test situation , find a trajectory for the test situation using hierarchical TP-GMM.
procedure HS-TRAIN(, )
for to do
   ENCODE(, )
procedure HS-TEST(, , , )
for to do
   DECODE(, )
   MORPH_GMM(, , )
   GMR(, )
  Request new demonstrations.

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