@article{efficientbimanualmanipulationusinglearne,
  title = {Efficient Bimanual Manipulation Using Learned Task Schemas},
  author = {Rohan Chitnis and Shubham Tulsiani and Saurabh Gupta and Abhinav Gupta},
  year = {2019},
  eprint = {1909.13874},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1909.13874v2},
}