@misc{lv2025kinematicsawarediffusionpolicyconsistent,
      title={Kinematics-Aware Diffusion Policy with Consistent 3D Observation and Action Space for Whole-Arm Robotic Manipulation},
      author={Kangchen Lv and Mingrui Yu and Yongyi Jia and Chenyu Zhang and Xiang Li},
      year={2025},
      eprint={2512.17568},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2512.17568},
}