RSS2025 Paper 072

CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity

Guang Yin, Yitong Li, Yixuan Wang, Dale Mcconachie, Paarth Shah, Kunimatsu Hashimoto, Huan Zhang, Katherine Liu, Yunzhu Li

机器人学习视觉语言模型操作感知扩散策略可解释性
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CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity figure
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