@inproceedings{possibilitybeforeutilitylearningandusing,
  title = {Possibility Before Utility: Learning And Using Hierarchical Affordances},
  author = {Robby Costales and Shariq Iqbal and Fei Sha},
  year = {2022},
  booktitle = {ICLR 2022 4},
  eprint = {2203.12686},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2203.12686v1},
}