@article{towardscoordinatedrobotmotionsendtoend,
  title = {Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees},
  author = {M. Asif Rana and Anqi Li and Dieter Fox and Sonia Chernova and Byron Boots and Nathan Ratliff},
  year = {2020},
  eprint = {2012.13457},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2012.13457v2},
}