@article{aconfigurationspacedecompositionscheme,
  title = {A Configuration-Space Decomposition Scheme for Learning-based Collision Checking},
  author = {Yiheng Han and Wang Zhao and Jia Pan and Zipeng Ye and Ran Yi and Yong-Jin Liu},
  year = {2019},
  eprint = {1911.08581},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1911.08581v1},
}