1. A grammar is ambiguous if there exists more than one leftmost derivation, rightmost derivation, or parse tree for a given input string.
2. The document provides examples of ambiguous grammars, including one where the string "aabb" has two parse trees, and another where the string "id + id - id" has two leftmost derivations.
3. Derivations in a grammar are sequences of production rules used to generate strings from non-terminals. Leftmost and rightmost derivations differ in whether the input string is scanned from left to right or right to left.