Generate Subgoal Images before Act: Unlocking the Chain-of-Thought Reasoning in Diffusion Model for Robot Manipulation with Multimodal Prompts, Fei Ni, Jianye HAO, Shiguang Wu, LongxinKou, Jiashun Liu, YAN ZHENG, Bin Wang, Yuzheng Zhuang. Conference on Computer Vision and Pattern Recognition (CVPR): 2024
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