  In this paper, we present our work in progress towards creating a library of
motion primitives. This library facilitates easier and more intuitive learning
and reusing of robotic skills. Users can teach robots complex skills through
Learning from Demonstration, which is automatically segmented into primitives
and stored in clusters of similar skills. We propose a novel multimodal
segmentation method as well as a novel trajectory clustering method. Then, when
needed for reuse, we transform primitives into new environments using
trajectory editing. We present simulated results for our framework with
demonstrations taken on real-world robots.
