@article{energybasedcompositionaldiffusionplannin,
  title = {Energy-based Compositional Diffusion Planning},
  author = {Tao Sun and Utkarsh Aashu Mishra and Jiaxin Lu and Danfei Xu and Iro Armeni},
  year = {2026},
  eprint = {2606.21646},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.21646},
}