@article{simeonov2020learning,
  title={Learning to Plan with Pointcloud Affordances for General-Purpose Dexterous Manipulation},
  author={Simeonov, Anthony and Du, Yilun and Kim, Beomjoon and Hogan, Francois R and Agrawal, Pulkit and Rodriguez, Alberto},
  journal={Conference on Robot Learning},
  year={2020}
}