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Learning models of user behaviour is an important problem that is broadly applicable across many application domains requiring human–robot interaction. In this work, we show that it is possible to learn generative models for distinct user behavioural …

Robot control policies for temporally extended and sequenced tasks are often characterized by discontinuous switches between different local dynamics. These change-points are often exploited in hierarchical motion planning to build approximate models and to facilitate the design of local, region-specific controllers.