@article{graspgradientbasedaffordanceselectionfor,
  title = {GrASP: Gradient-Based Affordance Selection for Planning},
  author = {Vivek Veeriah and Zeyu Zheng and Richard Lewis and Satinder Singh},
  year = {2022},
  eprint = {2202.04772},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2202.04772v1},
}