@article{structformerlearningspatialstructurefor,
  title = {StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objects},
  author = {Weiyu Liu and Chris Paxton and Tucker Hermans and Dieter Fox},
  year = {2021},
  eprint = {2110.10189},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2110.10189v1},
}