@INPROCEEDINGS{song2020multi,
  author={Song, Haoran and Haustein, Joshua A. and Yuan, Weihao and Hang, Kaiyu and Wang, Michael Yu and Kragic, Danica and Stork, Johannes A.},
  booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Multi-Object Rearrangement with Monte Carlo Tree Search: A Case Study on Planar Nonprehensile Sorting}, 
  year={2020},
  volume={},
  number={},
  pages={9433-9440},
  doi={10.1109/IROS45743.2020.9341532}}