Robometer combines intra-trajectory progress supervision with inter-trajectory preference supervision on a 1M-trajectory dataset to learn more generalizable robotic reward functions than prior methods.
With this visualizer, we sample 10 trajectories from each data source and manually mark the frame at which we deem the task to be complete
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Robometer: Scaling General-Purpose Robotic Reward Models via Trajectory Comparisons
Robometer combines intra-trajectory progress supervision with inter-trajectory preference supervision on a 1M-trajectory dataset to learn more generalizable robotic reward functions than prior methods.