@article{energybasedmodelsaszeroshotplannersfor,
  title = {Energy-based Models are Zero-Shot Planners for Compositional Scene Rearrangement},
  author = {Nikolaos Gkanatsios and Ayush Jain and Zhou Xian and Yunchu Zhang and Christopher Atkeson and Katerina Fragkiadaki},
  year = {2023},
  eprint = {2304.14391},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2304.14391v4},
}