@article{representationlearningandplanning,
  title = {Representation, learning, and planning algorithms for geometric task and motion planning},
  author = {Beomjoon Kim and Luke Shimanuki and Leslie Pack Kaelbling and Tomás Lozano-Pérez},
  year = {2022},
  eprint = {2203.04605},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2203.04605v1},
}