First, the path is demonstrated by the user. The path is extracted by observing "motion gestures." The system is not just memorizing the exact path the human takes, but is extracting "significant" via points along the way.

The robot practices the path above the pegs, to avoid potential collisions. Even if it memorized the human's path exactly, the robot might collide because it sweeps out a different volume than the human's hand.

"Nudge gestures" are used to fine-tune the trajectory shape as the robot "practices" what it has observed. In a limited way, this is like supervised practice in human-to-human training.

Once the human is satisfied with the robot's performance, it is allowed to route wires.

"Symbolic gestures" are used to implement a "menu" to call up stored paths.