# Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs

> Research article (2021 IEEE International Conference on Robotics and Automation (ICRA), 2021) · cited 82× · AI/ML

**Wikidata**: [openalex:W3207057769](https://www.wikidata.org/wiki/openalex:W3207057769)  
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