ProcVLM learns procedure-grounded dense progress rewards for robotic manipulation via a reasoning-before-estimation VLM trained on a 60M-frame synthesized corpus from 30 embodied datasets.
Rh20t: A comprehensive robotic dataset for learning diverse skills in one-shot
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ProcVLM: Learning Procedure-Grounded Progress Rewards for Robotic Manipulation
ProcVLM learns procedure-grounded dense progress rewards for robotic manipulation via a reasoning-before-estimation VLM trained on a 60M-frame synthesized corpus from 30 embodied datasets.