@inproceedings{skilldiffuserinterpretablehierarchical,
  title = {SkillDiffuser: Interpretable Hierarchical Planning via Skill Abstractions in Diffusion-Based Task Execution},
  author = {Zhixuan Liang and Yao Mu and Hengbo Ma and Masayoshi Tomizuka and Mingyu Ding and Ping Luo},
  year = {2023},
  booktitle = {CVPR 2024 1},
  eprint = {2312.11598},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2312.11598v3},
}