Policy refinement after demonstration

Use of stochastic optimization in the policy-parameters space to refine a skill initially learned from demonstration. Reference: S. Calinon, P. Kormushev, D.G. Caldwell: Compliant skills acquisition and multi-optima policy search with EM-based reinforcement learning, Robot. Auton. Syst. 61(4), 369–379 (2013); URL: http://vimeo.com/13387420