In vivo microscopic imaging inside a biological lumen such as the gastrointestinal tract, respiratory airways, or within blood vessels has faced significant technological challenges for decades. A promising candidate technology is the multimode fiber (MMF) endoscope, which enables minimally invasive diagnostics at a resolution reaching the cellular level. However, for in vivo imaging applications deep inside a biological lumen, sample-induced aberrations and the dynamic dispersion in the MMF make the MMF endoscope a chaotic system with many unknowns, where multiple minor fluctuations can couple and compound into intractable problems. We introduce a dynamically encoding, cascaded, optical, and ultrathin polychromatic light-field endoscopy (DECOUPLE) to tackle this challenge. DECOUPLE includes an adaptive aberration correction that can accurately track and control MMF behavior in the spatial-frequency domain to compensate for chaos introduced during complex dynamic imaging processes. We demonstrate the flexibility and practicality of DECOUPLE for noninvasive volumetric imaging in two colors for light passing through various highly aberrating samples including 120-μm-thick onion epidermal slices and 80-μm-thick layers of fat emulsions. To summarize, we represent a significant step toward practical in vivo imaging deep within biological tissue.