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The authors propose a teaching method, called 'teaching by showing' in which a human instructor shows an intended task to a robot by simply performing it himself. As an important point in realization of the method, a theory for visual recognition of human action sequences is presented. Then they give a full description of a system that observes an example task by vision and automatically generates a robot program to execute the task. Results of experiments on assembly tasks in blocks world are also presented.>
Kuniyoshi et al. (Wed,) studied this question.