@article{hierarchicalrepresentationsandexplicit,
  title = {Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks},
  author = {Zachary Ravichandran and Lisa Peng and Nathan Hughes and J. Daniel Griffith and Luca Carlone},
  year = {2021},
  eprint = {2108.01176},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2108.01176v2},
}