Patent ID: 7012609

Claim:
A computer-readable medium having stored thereon a data structure, comprising: a cardinal basis weighting module corresponding to each of the plurality of examples, each cardinal basis weighting function being based on radial basis functions and linear basis functions; a callable function module that computes the manipulation based on a sum of the plurality of examples, wherein each example in the sum is multiplied by the cardinal basis weighting function corresponding to the example, wherein it is determined whether the interpolation function fails to meet a criterion; a pseudo-example, wherein the cardinal basis weighting module is recomputed based on the original examples and the pseudo-example, and wherein adding at least one additional example comprises: identifying a value p that produces a maximal value of ∥x e (p)−p∥, wherein p is a set of parameters in an annotation space and x e is a function that produces an end-effector position for the object based on p; and identifying a value p′ that produces a minimal value of ∥x e (p′)−p∥, wherein p′ is the pseudo-example.