@inproceedings{varava2019partial,
  title={Partial Caging: A Clearance-Based Definition and Deep Learning},
  author={Varava, Anastasiia and Welle, Michael C and Mahler, Jeffrey and Goldberg, Ken and Kragic, Danica and Pokomy, Florian T},
  booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={1533--1540},
  year={2019},
  organization={IEEE}
}