The goal of HuMoUR is to develop novel computer vision tools to estimate and understand human motion using a simple camera and use this information as a demonstration to teach a general purpose robotic assistant to perform new complex manipulation tasks. In Robotics, this learning paradigm is referred to as Learning from Demonstration: a non-expert teacher repetitively executes a task so the robot can learn the steps and variability of the actions. Typical setups take place in controlled laboratory facilities and consist of a manipulator arm teleoperated by the user through a haptic device. In order to bring this technology to the next stage of development and out of the laboratory, we believe it is paramount to contribute both on the sensing and action fronts of the problem. HuMoUR will advance both these fields.