@article{efficientstateabstractionusingobject,
  title = {Efficient State Abstraction using Object-centered Predicates for Manipulation Planning},
  author = {Alejandro Agostini and Dongheui Lee},
  year = {2020},
  eprint = {2007.08251},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2007.08251v1},
}