Harnessing VLM in Embodied RL: From Reward Regressor to Success Detector via Exploration-Augmented Key-Observation Gating

VLMs provide promising solutions to embodied reward design. Most current methods that train VLMs as reward regressors not only require extensive annotations but are also primarily designed for finetuning pretrained policies, and perform less well in the more challenging from-scratch RL setting.

Aus dem Abstract. Unsere Zusammenfassung folgt.