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RAPAC-DP: Response-Aligned Pending-Action Compensation for Diffusion Policies under Delayed Execution

RAPAC-DP proposes a response-aligned pending-action compensation framework that enables diffusion and flow-based action generators to still output full action chunks aligned with the handover moment under cloud inference latency. The method uses a lightweight pending-action encoder and LoRA adapters to learn the compensation while keeping the base policy frozen, and constructs delay-conditioned training samples from delay-free demonstrations, requiring neither an explicit dynamics model nor additional delay data.

Part of the event: RAPAC-DP: A Pending-Action Compensation Framework for Delayed Execution

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