@inproceedings{Liu23IROS,
	author="Liu, J. and Li, Z. and Lin, W. and Calinon, S. and Tan, K. C. and Chen, F.",
	title="Soft{GPT}: Learn Goal-oriented Soft Object Manipulation Skills by Generative Pre-trained Heterogeneous Graph Transformer",
	booktitle="Proc.\ {IEEE/RSJ} Intl Conf.\ on Intelligent Robots and Systems ({IROS})",
	year="2023",
	pages=""
}