@ARTICLE{10608414,
  author={Winge, Carl and Imdieke, Adam and Aldeeb, Bahaa and Kang, Dongyeop and Desingh, Karthik},
  journal={IEEE Robotics and Automation Letters}, 
  title={Talk Through It: End User Directed Manipulation Learning}, 
  year={2024},
  volume={9},
  number={9},
  pages={8051-8058},
  keywords={Robots;Task analysis;Production facilities;Training;Natural languages;Grippers;Cognition;Human-centered robotics;incremental learning;learning from demonstration},
  doi={10.1109/LRA.2024.3433309}}