# LEXP: Learning Robotic Manipulation from Physical Experience via Context-Space Adaptation

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/sydbpph96w520vwlfiu0pnbev
- Original: https://arxiv.org/abs/2610.41320

## Summary

The authors propose LEXP, a framework for learning from physical experience through context-space adaptation that combines task-level planning with an experience module, reusing execution experience to generate contextual feedback while model weights and the action interface remain fixed. Across 12 real-world manipulation tasks, LEXP achieved 23/36 successes (63.9%), compared with 19/36 (52.8%) using memory alone and 2/36 (5.6%) for vanilla ChatGPT-6-Astra.