@article{welle2021partial,
  title={Partial caging: a clearance-based definition, datasets, and deep learning},
  author={Welle, Michael C and Varava, Anastasiia and Mahler, Jeffrey and Goldberg, Ken and Kragic, Danica and Pokorny, Florian T},
  journal={Autonomous Robots},
  pages={1--18},
  year={2021},
  publisher={Springer}
}