Selected_publications

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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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
Consensus Complementarity Control for Multicontact MPC
We propose a hybrid model predictive control algorithm, consensus complementarity control, for systems that make and break contact with …
Alp Aydinoglu, Adam Wei, Wei-Cheng Huang, Michael Posa
Last updated on Sep 30, 2025
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Consensus Complementarity Control for Multicontact MPC