@article{simeonov2022se,
  title={SE (3)-Equivariant Relational Rearrangement with Neural Descriptor Fields},
  author={Simeonov, Anthony and Du, Yilun and Yen-Chen, Lin and Rodriguez, Alberto and Kaelbling, Leslie Pack and Lozano-Perez, Tomas and Agrawal, Pulkit},
  journal={Conference on Robot Learning},
  year={2022}
}