# Manipulation Planning Using Object-Centered Predicates and Hierarchical Decomposition of Contextual Actions

> Research article (IEEE Robotics and Automation Letters, 2020) · cited 15× · AI/ML

**Wikidata**: [openalex:W3043276431](https://www.wikidata.org/wiki/openalex:W3043276431)  
**Source**: https://4ort.xyz/entity/manipulation-planning-using-object-centered-predicates-and-hierarchical-decomposition-of-contextual-actions