Before revision:  Furthermore, due to our choice of parameterization for the constituting subtask policies, our overall structured motion policy is guaranteed to generate stablemotions. To corroborate our theory, we also present qualitative and quantitative evaluations on multiple robotic tasks .
After revision:  Furthermore, due to our choice of parameterization for the constituting subtask policies, our overall structured motion policy is guaranteed to be stable. We validate the effectiveness of our proposed learning framework through qualitative and quantitative evaluations on multiple robotic tasks .