 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.
<clarity>  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.
 We demonstrate the effectiveness using several simulated bimanual robotic manipulation tasks . Compared to baselines , our model generalizes better and achieves higher success rates in the simulated tasks.