Before revision:  a) it introduces a new FL-based formalism that extends the conventional LfD learning paradigm to support large-scale multi-agent operational settings, b) it elaborates previous FL-based self-learning robotic schemes so as to incorporate the human in the learning loop , and c) it consolidates the fundamental principles of FL with additional sophisticated AI-enabled learning methodologies for modelling the multi-level inter-dependencies among the robotic tasks.
After revision:  a) it introduces a new FL-based formalism that extends the conventional LfD learning paradigm to support large-scale multi-agent operational settings, b) elaborates previous FL-based self-learning robotic schemes so as to incorporate the human in the learning loop , and c) it consolidates the fundamental principles of FL with additional sophisticated AI-enabled learning methodologies for modelling the multi-level inter-dependencies among the robotic tasks.