One correction to this discussion: if the robot is rescued *while* pushing the ambulance, then the ambulance is Cargo, since it's being transported by the robot (Rule 13, Cargo) and it's prior to release of the ambulance.
Rule 31, Touch Penalty, discusses what happens to Cargo items when this happens. In the case that the Ambulance didn't come out of Base with the robot, then the Ambulance would be taken off the field.
As Sonya said, in response to the original question, once the robot leaves the Ambulance or other object on the field, it stays where it is (Rule 33, bullet 2 -- Cargo the robot loses contact with is left wherever it comes to rest), until the robot moves it again later.
Rescuing the robot is allowed by the rules (even though there is a scoring penalty). There are no consequences to rescuing the robot other than those described in Rule 31 (although thre are some clarifications in rules 25, 16, 26
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