@article{liu2023softgpt,
  title={SoftGPT: Learn Goal-oriented Soft Object Manipulation Skills by Generative Pre-trained Heterogeneous Graph Transformer},
  author={Liu, Junjia and Li, Zhihao and Calinon, Sylvain and Chen, Fei},
  journal={arXiv preprint arXiv:2306.12677},
  year={2023}
}