You've Got a Golden Ticket: Improving Generative Robot Policies With A Single Noise Vector
The method replaces random Gaussian noise sampling with a single, fixed initial noise vector called a "golden ticket" to improve frozen generative robot policies. This search finds an optimal constant input that boosts performance on downstream tasks without retraining the model. Empirical results show golden tickets significantly outperform Gaussian noise across many benchmarks, proving the lottery ticket hypothesis for policy improvement.