@inproceedings{hermans-iros-cas2012,
 author = {Tucker Hermans and James M. Rehg and Aaron F. Bobick},
 title = {{Decoupling Behavior, Control, and Perception in Affordance-Based Manipulation}},
 booktitle = {{IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on Cognitive Assistive Systems}},
 year = {2012},
 month = {October},
 location = {Vilamoura, Portugal}
}