@article{semanticandgeometricmodelingwithneural,
  title = {Semantic and Geometric Modeling with Neural Message Passing in 3D Scene Graphs for Hierarchical Mechanical Search},
  author = {Andrey Kurenkov and Roberto Martín-Martín and Jeff Ichnowski and Ken Goldberg and Silvio Savarese},
  year = {2020},
  eprint = {2012.04060},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2012.04060v2},
}