# Crossway Diffusion: Improving Diffusion-based Visuomotor Policy via Self-supervised Learning

> Research article (2024 IEEE International Conference on Robotics and Automation (ICRA), 2024) · cited 14× · AI/ML

**Wikidata**: [openalex:W4401417165](https://www.wikidata.org/wiki/openalex:W4401417165)  
**Source**: https://4ort.xyz/entity/crossway-diffusion-improving-diffusion-based-visuomotor-policy-via-self-supervised-learning