@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} }