For robots to become prevalent in human environments, the robots need to be able to perform complex tasks often involving sequential repetition of actions. In this work, we present a demonstrationbased approach to teach a robot generalized plans for performing sequential tasks with repetitions. We introduce action definitions through perception. Using the action definitions and the demonstration, the robot learns a task specific plan for tasks containing repetition of sub-sequences.
Harini Veeraraghavan, Manuela M. Veloso