@inproceedings{chen2024plandq,
  title={PlanDQ: Hierarchical Plan Orchestration via D-Conductor and Q-Performer},
  author={Chen, Chang and Baek, Junyeob and Deng, Fei and Kawaguchi, Kenji and Gulcehre, Caglar and Ahn, Sungjin},
  booktitle={International Conference on Machine Learning (ICML)},
  year={2024}
}