@article{optimizingobjectbasedperceptionand,
  title = {Joint Perception and Control as Inference with an Object-based Implementation},
  author = {Minne Li and Zheng Tian and Pranav Nashikkar and Ian Davies and Ying Wen and Jun Wang},
  year = {2019},
  eprint = {1903.01385},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1903.01385v3},
}