To train our model, we generated a dataset of 20,000 demonstrated 7 DOF trajectories (6 robot joints and 1 gripper dimension) in our simulated environment together with a sentence generator capable of creating natural task descriptions for each scenario. In order to create the language generator, we conducted an human-subject study to collect sentence templates of a placement task as well as common words and synonyms for each of the used features. By utilising these data, we are able to generate over 180,000 unique sentences, depending on the generated scenario. To test our model, we generated 500 new scenario testing each of the three features to identify the correct target among other bowls.  
 Question: Does proposed end-to-end approach learn in reinforcement or supervised learning manner?
supervised learning