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Partial Caging: A Clearance-Based Definition and Deep Learn..:

, In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Varava, Anastasiia ; Welle, Michael C. ; Mahler, Jeffrey... - p. 1533-1540 , 2019
Link: https://doi.org/10.1109/IROS40897.2019.8967958