@INPROCEEDINGS{Behrens2019SpecifyingDualArm,
author = {Behrens, J.K. and {\v S}t{\v e}p{\'a}nov{\'a}, K. and Lange, R. and {\v S}koviera, R.},
title = {Specifying  Dual-Arm  Robot  Planning  Problems  through  Natural Language  and  Demonstration},
journal = {IEEE Robotics and Automation Letters},
volume = {4},
number = {3},
pages = {2622--2629},
year = {2019}
}