Same Trajectory, Contradictory Rewards (ROBORMBENCH): Paraphrase Fragility in Vision Language Reward Models
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.
Wonje Jeung, Sangyeon Yoon, Hyesoo Hong et al.
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