Applied Bionics and Biomechanics / 2019 / Article / Alg 1

Research Article

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