Table 1.

Sample hand-segmented routines. This table shows two routines as the input to the automatic segmentation algorithm. These routines consist the same hehavioral primitives with different order. They can be segmented into 3 segments, as hown in Table 2

Routine 1	Routine 2
locate bread	locate knife
puthand right	puthand left
pickup right	pickup left
locate plate	locate bread
remember location_plate	puthand right
puthand right	pickup right
dropoff right	locate plate
locate knife	remember location_plate
puthand left	puthand right
pickup left	dropoff right
puthand left location_jelly	puthand left location_jelly
pickup left	pickup left
puthand left location_plate	puthand left location_plate
dropoff right	dropoff right