@article{xdiffusiontrainingdiffusionpoliciesoncro,
  title = {X-Diffusion: Training Diffusion Policies on Cross-Embodiment Human Demonstrations},
  author = {Maximus A. Pace and Prithwish Dan and Chuanruo Ning and Atiksh Bhardwaj and Audrey Du and Edward W. Duan and Wei-Chiu Ma and Kushal Kedia},
  year = {2025},
  eprint = {2511.04671},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2511.04671},
}