@article{codediffuserattentionenhanceddiffusion,
  title = {CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity},
  author = {Guang Yin and Yitong Li and YiXuan Wang and Dale McConachie and Paarth Shah and Kunimatsu Hashimoto and huan zhang and Katherine Liu and Yunzhu Li},
  year = {2025},
  eprint = {2506.16652},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2506.16652v1},
}