VLM-TDP guides a diffusion-based robot policy with VLM-generated voxel trajectories, improving success rates by roughly 30-44% and adding robustness to noise and scene changes.
Self-supervised correspon- dence in visuomotor policy learning,
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VLM-TDP: VLM-guided Trajectory-conditioned Diffusion Policy for Robust Long-Horizon Manipulation
VLM-TDP guides a diffusion-based robot policy with VLM-generated voxel trajectories, improving success rates by roughly 30-44% and adding robustness to noise and scene changes.