A HOAP-3 humanoid robot is used in the experiment. It has in total 28 DOFs, of which the 8 DOFs of the upper torso are used in the experiment. The experiment consists of feeding a Robota robotic doll, where HOAP-3 first brings a spoon to a plate of mashed potatoes and then moves it towards Robota's mouth.

This experiment aims at demonstrating that the framework can be used to learn a controller by taking into account several constraints. Here, we consider the case where a set of movements relative to a set of landmarks must be taken into consideration for the reproduction of the skill (i.e., where several actions on objects are considered).

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