@inproceedings{sinapov2008detecting,
  title={Detecting the functional similarities between tools using a hierarchical representation of outcomes},
  author={Sinapov, Jivko and Stoytchev, Alexadner},
  booktitle={Development and Learning, 2008. ICDL 2008. 7th IEEE International Conference on},
  pages={91--96},
  year={2008},
  organization={IEEE}
}