On Purposive Learning...
TUM recently published an interview with MSNE Program Director Prof. Gordon Cheng on purposive learning. The interview refers to an 2019 article in Science Robotics journal:
G. Cheng, K. Ramirez-Amaro, M. Beetz, Y. Kuniyoshi: "Purposive Learning: Robot Reasoning about the Meanings of Human Activities", Science Robotics, 2019. DOI: 10.1126/scirobotics.aav1530