@article{jiang2021giga, 
    title={Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations},
    author={Zhenyu Jiang and Yifeng Zhu and Maxwell Svetlik and Kuan Fang and Yuke Zhu}, 
    journal={Robotics: Science and Systems (RSS)}, 
    year={2021} 
}