@article{plandqhierarchicalplanorchestrationviad,
  title = {PlanDQ: Hierarchical Plan Orchestration via D-Conductor and Q-Performer},
  author = {Chang Chen and Junyeob Baek and Fei Deng and Kenji Kawaguchi and Caglar Gulcehre and Sungjin Ahn},
  year = {2024},
  eprint = {2406.06793},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2406.06793v1},
}