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

arXiv:2607.28596v1 Announce Type: new Abstract: In contact-rich manipulation, action multimodality and reactivity dominate different stages of a single episode. Before contact, multiple trajectories might be equally valid, making it important to preserve diverse action modes. After contact, geometric constraints and force limits narrow the solution space, while successful execution demands rapid responses to force feedback. However, standard diffusion policies use a fixed inference frequency and...