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Training and Evaluating Diffusion Policies with Long Context Lengths
Imitation learning has enabled highly-dexterous robotic manipulation from RGB observations. Policies trained with these methods, …
Abhinav Agarwal, Adam Wei, Taylan Kargin, Michael Zeng, Cole Becker, Arif Kerem Dayı, Pablo Parrilo, Asuman Ozdaglar, Russ Tedrake
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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 Jun 13, 2026
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