@InProceedings{LIS1,
title = {Manipulation with Multiple Action Types},
author = {J. Barry and K. Hsiao and L. P. Kaelbling and T. Lozano-Perez},
year = {2012},
url = {http://lis.csail.mit.edu/pubs/barry-iser12.pdf},
month = {June},
booktitle = {International Symposium on Experimental Robotics},
}