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. However, these modalities often differ not only in information content but also in sensing rates and inference latencies. Existing multimodal diffusion policies typically rely on synchronous fusion or manually designed multi-frequency architectures, which either slow down high-frequency feedback or limit extensibility to new modality combinations. We propose LAG-Fusion, a latency-aware guidance fusion framework for asynchron
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- FuzzySimilar title/name (fuzzy) · 59%stabilityai/stable-diffusion-xl-base-1.0 →
“Fuzzy title match (0.73): “Asynchronous Multimodal Diffusion Policy Composition via Lat” ≈ “stabilityai/stable-diffusion-xl-base-1.0””
- FuzzySimilar title/name (fuzzy) · 59%CompVis/stable-diffusion-v1-4 →
“Fuzzy title match (0.73): “Asynchronous Multimodal Diffusion Policy Composition via Lat” ≈ “CompVis/stable-diffusion-v1-4””
- FuzzySimilar title/name (fuzzy) · 59%stabilityai/stable-diffusion-3.5-large →
“Fuzzy title match (0.73): “Asynchronous Multimodal Diffusion Policy Composition via Lat” ≈ “stabilityai/stable-diffusion-3.5-large””
- LinkedLinked via arxiv author · 85%Zihao He →
“Asynchronous Multimodal Diffusion Policy Composition via Latency-Aware Guidance Fusion”
- LinkedLinked via arxiv author · 85%Hongjie Fang →
“Asynchronous Multimodal Diffusion Policy Composition via Latency-Aware Guidance Fusion”
- LinkedLinked via arxiv author · 85%Shirun Tang →
“Asynchronous Multimodal Diffusion Policy Composition via Latency-Aware Guidance Fusion”
- LinkedLinked via arxiv author · 85%Cewu Lu →
“Asynchronous Multimodal Diffusion Policy Composition via Latency-Aware Guidance Fusion”
- LinkedLinked via arxiv author · 85%Haoshu Fang →
“Asynchronous Multimodal Diffusion Policy Composition via Latency-Aware Guidance Fusion”