Machine Heart

Oct 3, 2026 · Artificial Intelligence

LeaP: Learning Where Robot Action Generation Should Begin

LeaP introduces a learnable source prior conditioned on proprioception that jointly predicts mean and variance of a diagonal Gaussian for initializing generative robot policies, achieving 81.6% average success on 15 RoboTwin tasks (25.5 pp over standard Gaussian) and 80% on real Franka tasks (33.3 pp gain), with faster convergence.