Before revision:  We demonstrate the effectiveness using several simulated bimanual robotic manipulation tasks . Compared to models based on previous imitation learning studies , our model generalizes better and achieves higher success rates in the simulated tasks.
After revision:  We demonstrate the effectiveness using several simulated bimanual robotic manipulation tasks . Compared to models based on previous imitation learning studies , our model generalizes better and achieves higher success rates on several simulated bimanual robotic manipulation tasks. We open source the code for simulation, data, and models at: URL