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 m

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ethics.ai (19 July 2026), “Asynchronous Multimodal Diffusion Policy Composition via Latency-Aware Guidance Fusion,” evidence record 11999, https://ethics.ai/record/11999 (originally published by arXiv).

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