Noematrix

“FA-RDP: A Frequency-Adaptive Reactive Diffusion Policy for Contact-Rich Manipulation”

“standard diffusion policies use a fixed inference frequency and sampling steps throughout the episode, forcing a fundamental compromise: low-frequency, multi-step sampling better preserves pre-contact multimodality but responds slowly to force feedback, whereas high-frequency sampling improves reactivity but tends to collapse distinct pre-contact modes.”

“A company listed as an affiliation for researchers Jun Lv and Cewu Lu.”