@article{ardon2019learningb,
  title={Learning Grasp Affordance Reasoning through Semantic Relations},
  author={Ard{\'o}n, Paola and Pairet, {\`E}ric and Petrick, Ronald PA and Ramamoorthy, Subramanian and Lohan, Katrin S},
  journal={IEEE Robotics and Automation Letters},
  volume={4},
  number={4},
  pages={4571--4578},
  year={2019},
  publisher={IEEE}
}