 The framework maps a human demonstration to predefined task models through a one-shot demonstration. A task model contains both high-level knowledge about the geometric constraints of tasks and low-level knowledge about human postures.
<clarity>  The framework maps a human demonstration to predefined task models through a one-shot demonstration. A task model contains both high-level knowledge about the geometric constraints of tasks and low-level knowledge about human postures.
 The framework maps a human demonstration to predefined task models through a one-shot teaching. Each task model contains both high-level knowledge about the geometric constraints of tasks and low-level knowledge about human postures.