@article{zhang2026immiscible,
  title={Immiscible Diffusion Policy: Preserving Multimodal Robot Actions
         through Label-Free Noise Assignment},
  author={Zhang, Xiao and Chen, Yuxin and Liang, Zhixuan and Zhan, Guojian
          and Li, Chenran and Xu, Chenfeng and Tomizuka, Masayoshi and Li, Yiheng},
  journal={arXiv preprint arXiv:2610.09369},
  year={2026}
}