@article{learninglongcontextdiffusionpoliciesvia,
  title = {Learning Long-Context Diffusion Policies via Past-Token Prediction},
  author = {Marcel Torne and Andy Tang and Yuejiang Liu and Chelsea Finn},
  year = {2025},
  eprint = {2505.09561},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2505.09561v2},
}