Before revision:  The trained subtasks can be choreographed by a high-level synthesizer . As a test bed , we use a pick and place robotic simulator , and transfer the learnt behaviour in a real robotic system. We show that our method outperforms imitation learning based method and reaches  high success rate compared to an end-to-end learning approach.
After revision:  The trained subtasks can be choreographed by a high-level synthesizer . As a test bed , we use a pick and place robotic simulator to demonstrate our methodology, and show that our method outperforms imitation learning based method and reaches high success rate compared to an end-to-end learning approach.