@article{manipulationorientedobjectperceptionin,
  title = {Manipulation-Oriented Object Perception in Clutter through Affordance Coordinate Frames},
  author = {Xiaotong Chen and Kaizhi Zheng and Zhen Zeng and Cameron Kisailus and Shreshtha Basu and James Cooney and Jana Pavlasek and Odest Chadwicke Jenkins},
  year = {2020},
  eprint = {2010.08202},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2010.08202v4},
}