@article{fang2018tog, 
    title={Learning Task-Oriented Grasping for Tool Manipulation from Simulated Self-Supervision},
    author={Kuan Fang and Yuke Zhu and Animesh Garg and Andrey Kuryenkov and Viraj Mehta and Li Fei-Fei and Silvio Savarese}, 
    journal={Robotics: Science and Systems (RSS)}, 
    year={2018} 
}