@inproceedings{simeonov2020long, title={A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects}, author={Anthony Simeonov and Yilun Du and Beomjoon Kim and Francois R. Hogan and Joshua Tenenbaum and Pulkit Agrawal and Alberto Rodriguez}, year={2020}, booktitle={Conference on Robot Learning (CoRL)}, URL = {https://anthonysimeonov.github.io/rpo-planning-framework/} }