LeaP introduces a learnable proprioception-conditioned diagonal Gaussian source prior for generative robot policies, raising average success rates on 15 RoboTwin tasks from baselines by 6.5-25.5 points.
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Where Should Action Generation Begin? A Learnable Source Prior for Generative Robot Policies
LeaP introduces a learnable proprioception-conditioned diagonal Gaussian source prior for generative robot policies, raising average success rates on 15 RoboTwin tasks from baselines by 6.5-25.5 points.