@inproceedings{zhu2021hier,
  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},
  year = {2021},
  month = {May},
  booktitle = {International Conference on Robotics and Automation (ICRA)},
  eprint = {2012.07277},
  archiveprefix = {arxiv},
}