Description: 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. Due to size restrictions, the video 
shows trials 1, 5, 7, and 10 of the exploratory layer, trials 1, 3, and 5 of the expansion layer, and trials 1 and 4 for reinforcement learning. 
The final learned motion is demonstrated at the end of the video. The authors of the paper strongly recommend downloading and watching 
the accompanying video, to get more insight into the way actions are performed on the robot. More videos, in higher resolutions, 
can be found at http://robotics.ucmerced.edu/Robotics/IROS2011/.

Player Information: The video is encoded using MPEG-1. This is a universal format that should be read by most, if not all, video players. 
The video was successfully played on Windows Media Player, VLC, Media Player Classic, QuickTime, RealPlayer, and iTunes. 

Contact Information:
Stefano Carpin
School of Engineering
University of California, Merced
scarpin@ucmerced.edu