@article{timeunifieddiffusionpolicywithaction,
  title = {Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation},
  author = {Ye Niu and Sanping Zhou and Yizhe Li and Ye Den and Le Wang},
  year = {2025},
  eprint = {2506.09422},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2506.09422v1},
}