Compositional Foundation Models for Hierarchical Planning - Ajay, Anurag; Han, Seungwook; Du, Yilun; Li, Shuang; Gupta, Abhi; Jaakkola, Tommi; Tenenbaum, Josh; Kaelbling, Leslie; Srivastava, Akash; Agrawal, Pulkit (Advances in Neural Information Processing Systems, 2023)