@article{kpamscgeneralizablemanipulationplanning,
  title = {kPAM-SC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion},
  author = {Wei Gao and Russ Tedrake},
  year = {2019},
  eprint = {1909.06980},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1909.06980v1},
}