@inproceedings{simeonov2023shelving,
  title={Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangement},
  author={Simeonov, Anthony and Goyal, Ankit and Manuelli, Lucas and Lin, Yen-Chen and Sarmiento, Alina and Garcia, Alberto Rodriguez and Agrawal, Pulkit and Fox, Dieter},
  booktitle={7th Annual Conference on Robot Learning},
  year={2023}
}