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This paper addresses a common class of problems where a robot learns to perform a discovery task based on example solutions, or human demonstrations. As an example, this work considers the problem of ultrasound scanning, where a demonstration involves an expert adaptively searching for a satisfactory view of internal organs, vessels or tissue and potential anomalies while maintaining optimal contact between the probe and surface tissue. Such problems are often solved by inferring notionalarXiv:2002.01240v2 fatcat:go36csqb5zfq3loa4eqoftffnq