ARM trains reward models on Progressive/Regressive/Stagnant labels to enable adaptive reweighting in offline RL, reaching 99.4% success on towel-folding with minimal human intervention.
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ARM: Advantage Reward Modeling for Long-Horizon Manipulation
ARM trains reward models on Progressive/Regressive/Stagnant labels to enable adaptive reweighting in offline RL, reaching 99.4% success on towel-folding with minimal human intervention.