@article{unifiedtaskandmotionplanningusingobject,
  title = {Unified Task and Motion Planning using Object-centric Abstractions of Motion Constraints},
  author = {Alejandro Agostini and Justus Piater},
  year = {2023},
  eprint = {2312.17605},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2312.17605v1},
}