Anyone interested in CoSTAR: you can look up an early version of this material here. It’s a description of how we designed the system and the various issues we ran into when building our framework for end-user instruction of industrial robots.
@article{paxton2016costar,
title={CoSTAR: Instructing Collaborative Robots with Behavior Trees and Vision},
author={Paxton, Chris and Hundt, Andrew and Jonathan, Felix and Guerin, Kelleher and Hager, Gregory D},
journal={arXiv preprint arXiv:1611.06145},
year={2016}
}