@article{crosswaydiffusionimprovingdiffusionbased,
  title = {Crossway Diffusion: Improving Diffusion-based Visuomotor Policy via Self-supervised Learning},
  author = {Xiang Li and Varun Belagali and Jinghuan Shang and Michael S. Ryoo},
  year = {2023},
  eprint = {2307.01849},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2307.01849v3},
}