@article{explainablehierarchicalimitationlearning,
  title = {Explainable Hierarchical Imitation Learning for Robotic Drink Pouring},
  author = {Dandan Zhang and Yu Zheng and Qiang Li and Lei Wei and Dongsheng Zhang and Zhengyou Zhang},
  year = {2021},
  eprint = {2105.07348},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2105.07348v1},
}