@inproceedings{zhu2021hierarchical,
  title={Hierarchical planning for long-horizon manipulation with geometric and symbolic scene graphs},
  author={Zhu, Yifeng and Tremblay, Jonathan and Birchfield, Stan and Zhu, Yuke},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={6541--6548},
  year={2021},
  organization={IEEE}
}