@article{planningwithspatialtemporalabstraction,
  title = {Planning with Spatial-Temporal Abstraction from Point Clouds for Deformable Object Manipulation},
  author = {Xingyu Lin and Carl Qi and Yunchu Zhang and Zhiao Huang and Katerina Fragkiadaki and Yunzhu Li and Chuang Gan and David Held},
  year = {2022},
  eprint = {2210.15751},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2210.15751v2},
}