Before revision:  At test time, the end-effector is moved to the estimated state through a linear path, at which point the  demonstration's end-effector velocities are simply repeated, enabling convenient acquisition of a complex interaction trajectory  without actually needing to explicitly learn a policy.
After revision:  At test time, the end-effector is moved to the estimated state through a linear path, at which point the original demonstration's end-effector velocities are simply repeated, enabling convenient acquisition of a complex interaction trajectory without actually needing to explicitly learn a policy.