Asynchronous Multimodal Diffusion Policy Composition via Latency-Aware Guidance Fusion

Diffusion policies have shown strong potential for robotic imitation learning, and recent extensions incorporate additional modalities to improve manipulation performance.

Diffusion policies have shown strong potential for robotic imitation learning, and recent extensions incorporate additional modalities to improve manipulation performance. However, these modalities often differ not only in information content but also in sensing rates and…