@INPROCEEDINGS{10341846,
  author={Liu, Junjia and Li, Zhihao and Lin, Wanyu and Calinon, Sylvain and Tan, Kay Chen and Chen, Fei},
  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={SoftGPT: Learn Goal-Oriented Soft Object Manipulation Skills by Generative Pre-Trained Heterogeneous Graph Transformer}, 
  year={2023},
  volume={},
  number={},
  pages={4920-4925},
  keywords={Solid modeling;Shape;Transformers;Data models;Task analysis;Robots;Manipulator dynamics},
  doi={10.1109/IROS55552.2023.10341846}}