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

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/zu5kp1rkkfbda3wz2285y8lvt
- Original: https://arxiv.org/abs/2608.15924

## Summary

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.