@article {pub2786,
	title = {Learning Movement Primitive Attractor Goals and Sequential Skills from Kinesthetic Demonstrations},
	author = {Simon Manschitz AND Jens Kober AND Michael Gienger AND Jan Peters},
	year = {2015},
	month = {December},
	abstract = {We present an approach for learning sequential robot skills through kinesthetic teaching.
Finding the transitions between consecutive movement primitives is treated as multiclass classification problem.
We show how the goal parameters of linear attractor movement primitives can be learned from the demonstrations
and how the observed movement primitive order can help to improve the movement reproduction.
The improvement is achieved by restricting the classification result to the currently activated primitive and its possible successors
in a graph representation of the sequence, which is also learned from the demonstrations.
The approach is validated with two experiments using a Barrett WAM robot.},
	publisher = {Elsevier},
	journal = {Robotics and Autonomous Systems},
	volume = {74},
	pages = {97{\textendash}107}
}