@article{understandinghandobjectmanipulationby,
  title = {Understanding hand-object manipulation by modeling the contextual relationship between actions, grasp types and object attributes},
  author = {Minjie Cai and Kris Kitani and Yoichi Sato},
  year = {2018},
  eprint = {1807.08254},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1807.08254v1},
}