The Chief Cook Robot learning to cook an omelet by whipping eggs, cutting ham and grating cheese. Through the use of a probabilistic model using Gaussian Mixture Model (GMM) and Gaussian Mixture Regression (GMR), the robot progressively learns to generalize the skill to various situations. It is then possible to reproduce the skill by being robust to dynamic perturbations (e.g. by moving the bowl while the robot whip the eggs). This video is part of the Cogniron project.