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News/Ambient Diffusion Policy: Imitation Learning from Suboptimal Data in Robotics
arxiv
PublishedJune 11, 2026 at 4:00 AM
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Ambient Diffusion Policy: Imitation Learning from Suboptimal Data in Robotics

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arXiv:2606.12365v1 Announce Type: cross Abstract: We propose Ambient Diffusion Policy, a simple and principled method for imitation learning from suboptimal data in robotics. High-quality, task-specific robot data is expensive and time-consuming to collect, while suboptimal datasets with lower-quali

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