Reference:
Muhammad Asif Rana, Mustafa Mukadam, S. Reza Ahmadzadeh, Sonia Chernova and Byron Boots, "Skill 
Generalization via Inference-Based Planning", In Proc. Robotics: Science and Systems  (RSS), 
Workshop on Mathematical Models, Algorithms, and Human-Robot Interaction, Boston, MA, USA, pp. 1--3, 
12th-16th Jul. 2017. 

Bibtex Entry:
@INPROCEEDINGS{rana2017skill,
    TITLE={Skill Generalization via Inference-Based Planning},
    AUTHOR={Rana, Muhammad Asif and Mukadam, Mustafa and Ahmadzadeh, Seyed Reza and Chernova, Sonia and Boots, Byron},
    BOOKTITLE={Robotics: Science and Systems  ({RSS}), Workshop on Mathematical Models, Algorithms, and Human-Robot Interaction},
    PAGES={1--3},
    YEAR={2017},
    MONTH={July},
    ADDRESS={Boston, MA, USA},
}

Abstract:
We present a novel approach which unifies conventional learning from demonstration (LfD) and motion 
planning using probabilistic inference, for generalizable skill reproduction. We also provide a new 
probabilistic skill model that requires minimal parameter tuning, and is more suited for encoding 
skill constraints and performing inference in an efficient manner. Experimental validation on a 
manipulation skill is presented.