Responsive Noise-Relaying Diffusion Policy: Responsive and Efficient Visuomotor Control
Responsive Noise-Relaying Diffusion Policy (RNR-DP) fixes Diffusion Policy's poor responsiveness by using a noise-relaying buffer and sequential denoising. It generates immediate, noise-free actions conditioned on the latest observations while reusing previous steps for efficiency. This results in highly responsive control and significant speed improvements over existing methods.