 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.
<meaning-changed>  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.
 Our model is a deep, hierarchical, modular architecture . Compared to models based on previous imitation learning studies , our model generalizes better and achieves higher success rates in the simulated tasks.