Immiscible Diffusion Policy: Preserving Multimodal Robot Actions through Label-Free Noise Assignment

arXiv:2610.09369 · cs.RO, cs.LG · Submitted 2026-10-07 · Read on arXiv

cs.RO, cs.LG

Submitted: 2026-10-07

Updated: 2026-10-07

Terminology

• Action Space — 7× in this paper · explained in 1 episode
• Diffusion Model — 6× in this paper · explained in 8 episodes
• Consistency — 5× in this paper · explained in 3 episodes
• Diffusion Models — 5× in this paper · explained in 6 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Distillation — 2× in this paper · explained in 2 episodes
• Flow Matching — 2× in this paper · explained in 8 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Consistency Distillation — 1× in this paper · explained in 2 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Diffusion Process — 1× in this paper · explained in 2 episodes
• Distribution Shift — 1× in this paper · explained in 6 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Hallucination — 1× in this paper · explained in 3 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Mode Collapse — 1× in this paper · explained in 2 episodes
• Optimal Transport — 1× in this paper · explained in 5 episodes
• Symmetry Breaking — 1× in this paper · explained in 3 episodes

Sources

• RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation

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