How can I see two objects' keyframes at the same time on the dope sheet/action editor? I want to be able to see and modify the keyframes of just two objects at the same time in the timeline/dope sheet. When I select the action editor, it sends me to the single object. 

In the dope sheet it shows me everything, but I only need those two.
You can limit the displayed channels in Dopesheet to selected object, by selecting the little arrow icon: