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.
In our experiments, we instantiate RL-VLM- F using the same OpenAIGPT-5-minimodel as for GVL
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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.