@InProceedings{LIS191,<br>title = {Hierarchical planning for multi-contact non-prehensile manipulation},<br>author = {Gilwoo Lee and Tomas Lozano-Perez and Leslie Pack Kaelbling},<br>year = {2015},<br>url = {http://lis.csail.mit.edu/pubs/gilwoo-iros15.pdf},<br>booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},<br>}