Haoshu Fang

Asynchronous Multimodal Diffusion Policy Composition via Latency-Aware Guidance Fusion

Zihao He, Hongjie Fang, Shirun Tang, Cewu Lu, Haoshu Fang

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 inferen…Read more