RAG-Diff: Adapting Diffusion Policies to Dynamic Constraints with Retrieval-Augmented Guidance

Ruolin Ye; Nayoung Ha; Shuaixing Chen; Qiandao Liu; Gavin Chen; Shaoyang Stassen; Mark Zolotas; Jose Barreiros; Tapomayukh Bhattacharjee · RSS 2026 · 2026