 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.
<fluency>  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.
 The trained subtasks can be choreographed by a high-level synthesizer . As a testbed , we use a pick and place robotic simulator , and transfer the learnt behaviour in a real robotic system.