B-GRTO pre-trains a segmentation tool via bootstrapped group relative optimization on GRPO rollouts, yielding substantial gains over plain GRPO on referring segmentation benchmarks.
Robot manipulation in salient vision through referring image segmentation and geometric constraints
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B-GRTO: Bootstrapped Group Relative Tool Optimization for Referring Segmentation
B-GRTO pre-trains a segmentation tool via bootstrapped group relative optimization on GRPO rollouts, yielding substantial gains over plain GRPO on referring segmentation benchmarks.