Reuters published an article about a paper by Heecheol Kim, Yoshiyuki Ohmura, Yasuo Kuniyoshi titled “Robot peels banana with goal-conditioned dual-action deep imitation learning”(https://arxiv.org/abs/2203.09749).
https://www.reuters.com/technology/japanese-robot-can-peel-bananas-cleanly-most-time-2022-04-06/