2025
CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity
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…