Yeshe is that which is free from the habitual patterns of ordinary mind, or sem (that which project to other), and from yeshe there arises what is known as insight, or rikpa.
Rikpa is a clear way of looking at a situation, a kind of build-in perception for yeshe. It is also a seed of prajna, although prajna operates more in relationship to other, and rikpa relates more to yourself.
With rikpa, you are your own disciplinarian, so you do not stray.