@article{tmrldiffusiontimestepmodulatedpretrainin,
  title = {TMRL: Diffusion Timestep-Modulated Pretraining Enables Exploration for Efficient Policy Finetuning},
  author = {Matthew M. Hong and Jesse Zhang and Anusha Nagabandi and Abhishek Gupta},
  year = {2026},
  eprint = {2605.12236},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.12236},
}