@inproceedings{richards2020learning,
  title={Learning Object Attributes with Category-Free Grounded Language from Deep Featurization},
  author={Richards, Luke E. and Darvish, Kasra and Matuszek, Cynthia},
  booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={8400--8407},
  year={2020},
  organization={IEEE}
}