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cs.RO2025
CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity
Guang Yin, Yitong Li, Yixuan Wang +6
Natural language instructions for robotic manipulation tasks often exhibit ambiguity and vagueness. For instance, the instruction "Hang a mug on the mug tree" may involve multiple…
cs.RO2024
GenDP: 3D Semantic Fields for Category-Level Generalizable Diffusion Policy
Yixuan Wang, Guang Yin, Binghao Huang +3
Diffusion-based policies have shown remarkable capability in executing complex robotic manipulation tasks but lack explicit characterization of geometry and semantics, which often…