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(, )

 return

procedure HS-TEST(, , , )

 for to do

 if

   DECODE(, )

   MORPH_GMM(, , )

   GMR(, )

  return

 else

  Request new demonstrations.

  return