“…In the 'what is being learned' area, most imitation learning research focuses on learning assembly/pick-and-place operations (Brand, 1997), (Ehrenmann, 2002), (Kang, 1991), (Kuniyoshi, 1994), (Ogata, 1994), (Paul, 1996), (Tung, 1995). Such research generally looks at an input data stream, and attempts to segment the stream to identify actions performed by a human hand.…”