@article{savva2014scenegrok,
	title={SceneGrok: Inferring Action Maps in 3D Environments},
	author={Manolis Savva and Angel X. Chang and Pat Hanrahan and Matthew Fisher and Matthias Nie{\ss}ner},
	journal = {ACM Transactions on Graphics (TOG)},
	publisher = {ACM},
	volume = {33},
	number = {6},
	year = {2014}
}