@Article{LIS6,
title = {Representation, learning, and planning algorithms for geometric task and motion planning},
author = {Beomjoon Kim, Luke Shimanuki, Leslie Pack Kaelbling, Tomás Lozano-Pérez},
year = {2022},
url = {https://journals.sagepub.com/doi/pdf/10.1177/02783649211038280?fbclid=IwAR0treFWgB2XPomyQvlRTYdqr6fAzpfzPk4hQAM5KJBCXbNk-ADq0EZ0ruE},
journal = {The International Journal of Robotics Research},
volume = {41},
number = {2},
pages = {210--231},
publisher = {SAGE Publications Sage UK: London, England},
}