The video shows the robot learning a towel folding task using our algorithm. The exploratory and expansion layers run 10 and 5 times, respectively. 
Once all 15 motions have been played back on the robot, the reinforcement learning iterates until convergence. The video shows each 
exploratory and expansion layer trial as well as the reinforcement learning trials until convergence, along with each trial's reward. 
The final learned motion is demonstrated at the end of the video.