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Ambient Diffusion Policy
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ambient-diffusion-policy-158dbe22·1 events·first seen 6d agoAliases: Ambient Diffusion Policy
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Diffusion Policydiffusion-based policyDenoising Diffusion Policy OptimizationMasked Diffusion Modelslatent diffusionKolmogorov Regression for Robust Diffusion PoliciesPTL-DiffusionDiffusion ModelsRepresentation-Conditioned Diffusion ModelsGibbs-Accelerated Discrete Diffusion (GADD)DiffusionGemmaDiffusion Language Models
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Ambient Diffusion Policy: imitation learning from suboptimal robot data via noise-dependent co-training
Researchers introduce Ambient Diffusion Policy, a method for robot imitation learning that extracts useful features from suboptimal demonstrations by restricting their contribution to specific diffusion timesteps (high and low noise levels). The approach is grounded in the observation that robot action data follows a spectral power law, inducing global-to-local hierarchy and locality properties in diffusion models. Evaluated across six tasks and four types of suboptimal data, it outperforms co-training baselines by up to 33% when scaled to the Open X-Embodiment dataset.