CONF Ti_IROS_2022/IDIAP Imitation of Manipulation Skills Using Multiple Geometries Ti, Boyang Gao, Yongsheng Zhao, Jie Calinon, Sylvain EXTERNAL http://publications.idiap.ch/attachments/papers/2022/Ti_IROS_2022.pdf PUBLIC Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS) 2022