Scaling Vision-Language Reward Learning for Robot Manipulation in Parallel Simulation

arXiv:2609.21767 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

Code: https://github.com/rapid-vlm/rapid-vlm-rl

Terminology

• Reinforcement Learning — 15× in this paper · explained in 4 episodes
• Ablation — 10× in this paper · explained in 1 episode
• Accuracy — 10× in this paper · explained in 1 episode
• Benchmark — 10× in this paper · explained in 2 episodes
• Actor — 4× in this paper · explained in 3 episodes
• Deep Reinforcement Learning — 4× in this paper · explained in 2 episodes
• Reward Function — 3× in this paper · explained in 2 episodes
• Active Learning — 2× in this paper · explained in 6 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Distribution Shift — 2× in this paper · explained in 5 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Vision-Language Models (VLMs) — 2× in this paper · explained in 6 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Bradley-Terry model — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Clustering — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Initial Data — 1× in this paper · explained in 2 episodes
• Instruction Tuning — 1× in this paper · explained in 2 episodes
• Pairwise Comparisons — 1× in this paper · explained in 2 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Verification — 1× in this paper · explained in 2 episodes
• Vision-Language Model (VLM) — 1× in this paper · explained in 3 episodes

Sources

• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
• Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning
• Gemma 3 Technical Report

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