用分治式扩散模型+路由机制，让机器人更智能地融合视觉触觉信息。

Effectively integrating diverse sensory modalities is crucial for robotic manipulation. However, the typical approach of feature concatenation is often suboptimal: dominant modalities such as vision can overwhelm sparse but critical signals like touch in contact-rich tasks, and monolithic architectures cannot flexibly incorporate new or missing modalities without retraining. Our method factorizes the policy into a set of diffusion models, each specialized for a single representation (e.g., vision or touch), and employs a router network that learns consensus weights to adaptively combine their contributions, enabling incremental of new representations. We evaluate our approach on simulated manipulation tasks in {RLBench}, as well as real-world tasks such as occluded object picking, in-hand spoon reorientation, and puzzle insertion, where it significantly outperforms feature-concatenation baselines on scenarios requiring multimodal reasoning. Our policy further demonstrates robustness to physical perturbations and sensor corruption. We further conduct perturbation-based importance analysis, which reveals adaptive shifts between modalities.