Hierarchical Task-Parameterized Learning from Demonstration for Collaborative Object Movement

<div>Learning when to request new demonstrations. (a) Rated success with the hierarchical structure. Two example decision boundaries are given. (b) An example with some GMM clusters outside of the workspace.</div>

Applied Bionics and Biomechanics

fig19

Figure 19

Figure 19: Hierarchical Task-Parameterized Learning from Demonstration for Collaborative Object Movement 