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, Longxin Kou, Jiashun Liu +3 more
2/9/2026

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@article{ni2026generate,
  title  = {Generate Subgoal Images Before Act: Unlocking the Chain-of-Thought Reasoning in Diffusion Model for Robot Manipulation with Multimodal Prompts},
  author = {Fei Ni and Jianye Hao and Shiguang Wu and Longxin Kou and Jiashun Liu and Yan Zheng and Bin Wang and Yuzheng Zhuang},
  year   = {2026},
  doi    = {10.1109/CVPR52733.2024.01327},
  url    = {https://doi.org/10.1109/CVPR52733.2024.01327},
  journal = {CVPR 2024 2024}
}

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