@article{guidedskilllearningandabstractionfor,
  title = {LEAGUE: Guided Skill Learning and Abstraction for Long-Horizon Manipulation},
  author = {Shuo Cheng and Danfei Xu},
  year = {2022},
  eprint = {2210.12631},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2210.12631v2},
}