@inproceedings{lee2012learning,
  title={Learning reusable task components using hierarchical activity grammars with uncertainties},
  author={Lee, Kyuhwa and Kim, Tae-Kyun and Demiris, Yiannis},
  booktitle={2012 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={1994--1999},
  year={2012},
  organization={IEEE}
}