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One of the major challenges in Programming by Demonstration is deciding who to imitate. In this paper we propose a set of metrics for assessing how skilled a user is when demonstrating a bimanual task to a robot, that requires both a coordinated motion of the arms, and proper contact forces. We record successful demonstrations relative to the task goal and evaluate user performance with respect to 3 measures: the ability to maneuver the tool, the consistency in teaching, and the degree of coordination between the two arms. We present preliminary results on a scooping task.


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Last update: 25/08/06