@article{ambientdiffusionpolicyimitationlearningf,
  title = {Ambient Diffusion Policy: Imitation Learning from Suboptimal Data in Robotics},
  author = {Adam Wei and Nicholas Pfaff and Thomas Cohn and Arif Kerem Dayı and Constantinos Daskalakis and Giannis Daras and Russ Tedrake},
  year = {2026},
  eprint = {2606.12365},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.12365},
}