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.
After revision:  The trained subtasks can be choreographed by a high-level choreographer . As a test bed , we use a pick and place robotic simulator , and transfer the learnt behaviour in a real robotic system.