Before revision:  In the context of one-shot robot teaching, the contributions of the paper are: 1) to propose a framework that 1) covers various tasks in grasp-manipulation-release class household operations and 2) mimics human postures during the operations.
After revision:  In the context of one-shot robot teaching, the contributions of the paper is to propose a framework that 1) covers various tasks in grasp-manipulation-release class household operations and 2) mimics human postures during the operations.