ROBOT LEARNING BY DEMONSTRATION USING FORWARD MODELS OF SCHEMA-BASED BEHAVIORS Topics: Autonomous Agents; Human-Robots Interfaces; Mobile Robots and Autonomous Systems; Robot Design, Development and Control; Telerobotics and Teleoperation In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, 263-269, 2005 , Barcelona, Spain