@ARTICLE{guo2021geometric,
  author={Guo, Meng and Bürger, Mathias},
  journal={IEEE Transactions on Robotics},
  title={Geometric Task Networks: Learning Efficient and Explainable Skill Coordination for Object Manipulation},
  year={2022},
  volume={38},
  number={3},
  pages={1723-1734},
  doi={10.1109/TRO.2021.3111481}}