Hierarchical Task-Parameterized Learning from Demonstration for Collaborative Object Movement

Algorithm 5

Simulation procedure.

procedure SIM(, , start_range, goal_range, via_range)

 for to do

  Sample from sampling ranges

  Generate a demonstration trajectory

  VT-TRAIN(, )

  HS-TRAIN(, )

 for to do

  Sample from sampling ranges

  for to do

    DISTANCE(, )

   VT-TEST(, )

   HS-TEST(, , , )

   EVAL(, )

   EVAL(, )

 return, ,

procedure EVAL(, )

 return