<https://direct.mit.edu/desi/article/33/1/76/69262/Beyond-Affordances-Closing-the-Generalization-Gap>
<http://schema.org/url>
<https://dx.doi.org/10.1162/DESI_a_00427>
<https://direct.mit.edu/desi/article/33/1/76/69262/Beyond-Affordances-Closing-the-Generalization-Gap>