Yang-Baxter $\sigma$-models and dS/AdS T-duality

We point out the existence of nonlinear $\sigma$-models on group manifolds which are left symmetric and right Poisson-Lie symmetric. We discuss the corresponding rich T-duality story with particular emphasis on two examples: the anisotropic principal chiral model and the $SL(2,C)/SU(2)$ WZW model. The latter has the de Sitter space as its (conformal) non-Abelian dual.