@article{howwelldodiffusionpolicieslearnkinematic,
  title = {How Well do Diffusion Policies Learn Kinematic Constraint Manifolds?},
  author = {Lexi Foland and Thomas Cohn and Adam Wei and Nicholas Pfaff and Boyuan Chen and Russ Tedrake},
  year = {2025},
  eprint = {2510.01404},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2510.01404},
}