Author

Evan Sheehan

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#machine learning Mar 2026

Generalizable Dense Reward for Long-Horizon Robotic Tasks

VLLR is proposed, a dense reward framework combining an extrinsic reward from Large Language Models (LLMs) and Vision-Language Models (VLMs) for task progress recognition, and an intrinsic reward based on policy self-certainty based on policy self-certainty for PPO finetuning.

Si-Long Yong, Stephen Sheng, Carl Qi et al. · arXiv.org · 3 citations · ⚡1