@article{taskographyevaluatingrobottaskplanning,
  title = {TASKOGRAPHY: Evaluating robot task planning over large 3D scene graphs},
  author = {Christopher Agia and Krishna Murthy Jatavallabhula and Mohamed Khodeir and Ondrej Miksik and Vibhav Vineet and Mustafa Mukadam and Liam Paull and Florian Shkurti},
  year = {2022},
  eprint = {2207.05006},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2207.05006v1},
}