@article{setsuperviseddiffusionpolicylearningacti,
  title = {Set-Supervised Diffusion Policy: Learning Action-Chunking Diffusion through Corrections},
  author = {Zhaoting Li and Gang Chen and Javier Alonso-Mora and Cosimo Della Santina and Jens Kober},
  year = {2026},
  eprint = {2606.01865},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.01865},
}