Fine-tuning VLMs with pairwise progress supervision from policy rollouts improves fine-grained failure detection and boosts robot manipulation success by 11% real-world and 5.9% in simulation.
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Robot Critics that Sweat the Small Stuff
Fine-tuning VLMs with pairwise progress supervision from policy rollouts improves fine-grained failure detection and boosts robot manipulation success by 11% real-world and 5.9% in simulation.