Guang Yin — accepted AI-conference papers

2025

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

Guang Yin, Yitong Li, Yixuan Wang, Dale Mcconachie, Paarth Shah, Kunimatsu Hashimoto +3

RSS 2025poster

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 valid actions if there are several mugs and branches to choose from. Existing language-conditioned policies typically re…

Cited by 0 PDF ↗Scholar ↗

2024

GenDP: 3D Semantic Fields for Category-Level Generalizable Diffusion Policy

Yixuan Wang, Guang Yin, Binghao Huang, Tarik Kelestemur, Jiuguang Wang, Yunzhu Li

CoRL 2024poster

Diffusion-based policies have shown remarkable capability in executing complex robotic manipulation tasks but lack explicit characterization of geometry and semantics, which often limits their ability to generalize to unseen objects and layouts. To enhance the generalization capabilities of Diffusio…

Cited by 14 Source ↗code ↗Scholar ↗