@article{robotpeelsbananawithgoalconditioneddual,
  title = {Goal-conditioned dual-action imitation learning for dexterous dual-arm robot manipulation},
  author = {Heecheol Kim and Yoshiyuki Ohmura and Yasuo Kuniyoshi},
  year = {2022},
  eprint = {2203.09749},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2203.09749v3},
}