@inproceedings{moldovan12icilp,
  author = "Moldovan, Bogdan and van Otterlo, Martijn and 
Moreno, Plinio and Santos-Victor, Jose and De Raedt, Luc",
  title = "Statistical relational learning of object 
affordances for robotic manipulation",
  booktitle = "Latest Advances in Inductive Logic 
Programming",
  publisher = "Imperial College Press",
  year = "2012"
}