@article{usanetunifiedsemanticandaffordance,
  title = {USA-Net: Unified Semantic and Affordance Representations for Robot Memory},
  author = {Benjamin Bolte and Austin Wang and Jimmy Yang and Mustafa Mukadam and Mrinal Kalakrishnan and Chris Paxton},
  year = {2023},
  eprint = {2304.12164},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2304.12164v2},
}