Peter Pastor studied Computer Science at the University of Karlsruhe (TH). In 2005-2006 he was a Visiting Researcher at the Robotic Institute at Carnegie Mellon University in Pittsburgh, where he worked on a student research project within the trestle project which was developing the architectural framework necessary to coordinate robots to perform complex assembly tasks. He visited the CLMC Lab in Spring 2007 to work on his diploma thesis "Dynamic Movement Primitives for Imitation Learning of Grasping and Manipulation Tasks". After graduating from the University of Karlsruhe (TH) in 2008 he joined the CLMC Lab as a PhD student.