{"id":"https://openalex.org/W4416748794","doi":"https://doi.org/10.1109/iros60139.2025.11246593","title":"RA-DP: Rapid Adaptive Diffusion Policy for Training-Free High-frequency Robotics Replanning","display_name":"RA-DP: Rapid Adaptive Diffusion Policy for Training-Free High-frequency Robotics Replanning","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748794","doi":"https://doi.org/10.1109/iros60139.2025.11246593"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246593","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100355602","display_name":"Xi Ye","orcid":"https://orcid.org/0000-0003-0331-7946"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xi Ye","raw_affiliation_strings":["Tsinghua University,Department of Computer Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Computer Science and Technology","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110960541","display_name":"Rui Heng Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210115038","display_name":"Huawei Technologies (Canada)","ror":"https://ror.org/026venb53","country_code":"CA","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210115038"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Rui Heng Yang","raw_affiliation_strings":["Huawei Technologies Canada,Noah&#x2019;s Ark Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Technologies Canada,Noah&#x2019;s Ark Laboratory","institution_ids":["https://openalex.org/I4210115038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085327057","display_name":"Jun Jin","orcid":"https://orcid.org/0000-0002-4295-502X"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jun Jin","raw_affiliation_strings":["University of Alberta,Department of Electrical and Computer Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Alberta,Department of Electrical and Computer Engineering","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002949162","display_name":"Yinchuan Li","orcid":"https://orcid.org/0000-0002-4263-5130"},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yinchuan Li","raw_affiliation_strings":["Huawei Technologies,Noah&#x2019;s Ark Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Technologies,Noah&#x2019;s Ark Laboratory","institution_ids":["https://openalex.org/I4210159102"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102785363","display_name":"Amir Rasouli","orcid":"https://orcid.org/0009-0002-1020-5483"},"institutions":[{"id":"https://openalex.org/I4210115038","display_name":"Huawei Technologies (Canada)","ror":"https://ror.org/026venb53","country_code":"CA","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210115038"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Amir Rasouli","raw_affiliation_strings":["Huawei Technologies Canada,Noah&#x2019;s Ark Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Technologies Canada,Noah&#x2019;s Ark Laboratory","institution_ids":["https://openalex.org/I4210115038"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17493303,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6227","last_page":"6234"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.5511000156402588,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.5511000156402588,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.3531000018119812,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.024000000208616257,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6284999847412109},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5637999773025513},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5306000113487244},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.517300009727478},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4643999934196472},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4388999938964844},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4327000081539154},{"id":"https://openalex.org/keywords/adaptive-sampling","display_name":"Adaptive sampling","score":0.4203999936580658},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4187000095844269}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6373999714851379},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6284999847412109},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6209999918937683},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5637999773025513},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5306000113487244},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.517300009727478},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4643999934196472},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4388999938964844},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4327000081539154},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4302000105381012},{"id":"https://openalex.org/C2781395549","wikidata":"https://www.wikidata.org/wiki/Q4680762","display_name":"Adaptive sampling","level":3,"score":0.4203999936580658},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4187000095844269},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4025999903678894},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3774999976158142},{"id":"https://openalex.org/C52740198","wikidata":"https://www.wikidata.org/wiki/Q1539564","display_name":"Importance sampling","level":3,"score":0.34459999203681946},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.3346000015735626},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.3043999969959259},{"id":"https://openalex.org/C160403385","wikidata":"https://www.wikidata.org/wiki/Q220543","display_name":"Queue","level":2,"score":0.2964000105857849},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.29179999232292175},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.289000004529953},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.2858000099658966},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.2759000062942505},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27070000767707825},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.265500009059906},{"id":"https://openalex.org/C148220186","wikidata":"https://www.wikidata.org/wiki/Q7111912","display_name":"Outcome (game theory)","level":2,"score":0.26429998874664307},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.26179999113082886},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.26010000705718994},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.2597000002861023},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.2563999891281128},{"id":"https://openalex.org/C163294075","wikidata":"https://www.wikidata.org/wiki/Q581861","display_name":"Noise reduction","level":2,"score":0.25589999556541443}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246593","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W2760103357","https://openalex.org/W4385403811","https://openalex.org/W4385430497","https://openalex.org/W4385801729","https://openalex.org/W4390873784","https://openalex.org/W4390874575","https://openalex.org/W4390874580","https://openalex.org/W4400573489","https://openalex.org/W4402354007","https://openalex.org/W4402354045","https://openalex.org/W4402354098","https://openalex.org/W4402727436","https://openalex.org/W4404612908","https://openalex.org/W4413924986"],"related_works":[],"abstract_inverted_index":{"Diffusion":[0],"models":[1],"exhibit":[2],"impressive":[3],"scalability":[4],"in":[5,50,94,130,137,155],"robotic":[6],"task":[7],"learning,":[8],"yet":[9],"they":[10,28],"struggle":[11],"to":[12,14,36,45,47,79,110,183],"adapt":[13,46],"novel,":[15],"highly":[16],"dynamic":[17,81],"environments.":[18,82,132,144],"This":[19],"limitation":[20],"primarily":[21],"stems":[22],"from":[23],"their":[24],"constrained":[25],"replanning":[26,70,158],"ability:":[27],"either":[29],"operate":[30],"at":[31,114],"a":[32,37,62,105,122,184],"low":[33],"frequency":[34,159],"due":[35],"time-consuming":[38],"iterative":[39],"sampling":[40,101],"process,":[41,102],"or":[42],"are":[43,90],"unable":[44],"unforeseen":[48,80],"feedback":[49],"case":[51],"of":[52,157,187],"rapid":[53],"replanning.":[54],"To":[55],"address":[56],"these":[57],"challenges,":[58],"we":[59,166],"propose":[60],"RA-DP,":[61],"novel":[63,106],"diffusion":[64,100],"policy":[65],"framework":[66,125,170],"with":[67,174],"training-free":[68,124,176],"high-frequency":[69],"ability":[71],"that":[72,148,168],"solves":[73],"the":[74,95,99,151,164],"above":[75],"limitations":[76],"by":[77],"adapting":[78],"Specifically,":[83],"our":[84,169],"method":[85],"integrates":[86],"guidance":[87,177],"signals,":[88],"which":[89],"often":[91],"easily":[92],"obtained":[93],"new":[96],"environment":[97],"during":[98],"and":[103,142,160],"utilizes":[104],"action":[107],"queue":[108],"mechanism":[109],"generate":[111],"replanned":[112],"actions":[113],"every":[115],"denoising":[116],"step":[117],"without":[118],"retraining,":[119],"thus":[120],"forming":[121],"complete":[123],"for":[126],"robot":[127],"motion":[128],"adaptation":[129],"unseen":[131],"We":[133],"conduct":[134],"extensive":[135],"evaluations":[136],"both":[138],"common":[139],"simulation":[140],"benchmarks":[141],"real-world":[143],"Our":[145],"results":[146],"indicate":[147],"RA-DP":[149],"outperforms":[150],"state-of-the-art":[152],"diffusion-based":[153],"methods":[154],"terms":[156],"success":[161],"rate.":[162],"At":[163],"end,":[165],"show":[167],"is":[171],"theoretically":[172],"compatible":[173],"any":[175],"signal,":[178],"hence":[179],"increasing":[180],"its":[181],"applicability":[182],"wide":[185],"range":[186],"robotics":[188],"tasks.":[189]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}
