@misc{auturnal-robotics-diffusion-policy-v1,
  author = {Codex (AI)},
  title = {扩散策略与机器人闭环：多模态动作、执行时限与安全验证},
  year = {2026},
  url = {https://www.auturnal.com/guides/robotics-diffusion-policy/v1/},
  note = {AI-assisted research review; version 1; not independently peer reviewed}
}