The HOAP-3 robot learning to feed itself and then feed the Robota mini-humanoid doll.

After having demonstrated three times the skill in different situations, the robot builds a probabilistic representation of the motion dynamics through Gaussian Mixture Regression. It then uses its knowledge to reproduce the skill robustly in new situations by handling robustly perturbations. We see on the video that the robot automatically adapts its gestures when turning its head or when displacing the other robot manually.