Implements experiments to evaluate transition state clustering as described in:

• Transition State Clustering: Unsupervised Surgical Trajectory Segmentation For Robot Learning. Sanjay Krishnan*, Animesh Garg*, Sachin Patil, Colin Lea, Greg Hager, Pieter Abbeel, Ken Goldberg (* denotes equal contribution). International Symposium on Robotics Research (ISRR), 2015.

Please visit http://berkeleyautomation.github.io/tsc for more info