@inproceedings{grey2016humanoid,
  title={Humanoid manipulation planning using backward-forward search},
  author={Grey, Michael X and Garrett, Caelan R and Liu, C Karen and Ames, Aaron D and Thomaz, Andrea L},
  booktitle={Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on},
  pages={5467--5473},
  year={2016},
  organization={IEEE}
}