@article{diffusionguidanceisacontrollablepolicy,
  title = {Diffusion Guidance Is a Controllable Policy Improvement Operator},
  author = {Kevin Frans and Seohong Park and Pieter Abbeel and Sergey Levine},
  year = {2025},
  eprint = {2505.23458},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2505.23458v1},
}