@article{sui2017goal,
  title={Goal-directed robot manipulation through axiomatic scene estimation},
  author={Sui, Zhiqiang and Xiang, Lingzhu and Jenkins, Odest C and Desingh, Karthik},
  journal={The International Journal of Robotics Research},
  volume={36},
  number={1},
  pages={86--104},
  year={2017},
  publisher={SAGE Publications Sage UK: London, England}
}