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Ambient Diffusion Policy: Imitation Learning from Suboptimal Data in Robotics
We propose Ambient Diffusion Policy, a simple and principled method for imitation learning from suboptimal data in robotics. …
Adam Wei, Nicholas Pfaff, Thomas Cohn, Arif Kerem Dayı, Constantinos Daskalakis, Giannis Daras, Russ Tedrake
Last updated on Sep 6, 2026
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Ambient Diffusion Policy: Imitation Learning from Suboptimal Data in Robotics
How Well do Diffusion Policies Learn Kinematic Constraint Manifolds?
Diffusion policies have shown impressive results in robot imitation learning, even for tasks that require satisfaction of kinematic …
Lexi Foland, Thomas Cohn, Adam Wei, Nicholas Pfaff, Boyuan Chen, Russ Tedrake
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How Well do Diffusion Policies Learn Kinematic Constraint Manifolds?
Empirical Analysis of Sim-and-Real Cotraining Of Diffusion Policies For Planar Pushing from Pixels
In imitation learning for robotics, cotraining with demonstration data generated both in simulation and on real hardware has emerged as …
Adam Wei, Abhinav Agarwal, Boyuan Chen, Rohan Bosworth, Nicholas Pfaff, Russ Tedrake
Last updated on Sep 30, 2025
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Empirical Analysis of Sim-and-Real Cotraining Of Diffusion Policies For Planar Pushing from Pixels