@article{makeadonutlanguageguidedhierarchicalemd,
  title = {Make a Donut: Hierarchical EMD-Space Planning for Zero-Shot Deformable Manipulation with Tools},
  author = {Yang You and Bokui Shen and Congyue Deng and Haoran Geng and Songlin Wei and He Wang and Leonidas Guibas},
  year = {2023},
  eprint = {2311.02787},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2311.02787v3},
}