Applied Bionics and Biomechanics / 2019 / Article / Alg 5

Research Article

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