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This work identifies the first token of the response as a structurally distinct target for diversification, largely overlooked in prior work, and finds that the first-token distribution is sharply concentrated and only weakly related to downstream correctness, as lower-probability candidates can yield similarly accurat...
This work shows that paraphrase robustness is a core requirement for reliable VLM-based reward modeling in robotics and introduces ROBORMBENCH, a benchmark with 2,390 real-robot trajectories, ground-truth progress labels, and 21,673 verified paraphrases spanning lexical, syntactic, and action-goal rewrites.
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