ValueFormer trains a causal transformer on stage-aware success-then-decay Monte Carlo labels to give robot policies a per-frame progress value and binary mistake alert in one forward pass.
LeRobot: State-of-the-art machine learning for real-world robotics in PyTorch,
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ValueFormer: A Causal Transformer Value Function with Stage-Aware Labels for Semi-Autonomous Vision-Language-Action Policies
ValueFormer trains a causal transformer on stage-aware success-then-decay Monte Carlo labels to give robot policies a per-frame progress value and binary mistake alert in one forward pass.