{"id":"https://openalex.org/W7133361213","doi":"https://doi.org/10.48550/arxiv.2603.02115","title":"Robometer: Scaling General-Purpose Robotic Reward Models via Trajectory Comparisons","display_name":"Robometer: Scaling General-Purpose Robotic Reward Models via Trajectory Comparisons","publication_year":2026,"publication_date":"2026-03-02","ids":{"openalex":"https://openalex.org/W7133361213","doi":"https://doi.org/10.48550/arxiv.2603.02115"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.02115","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.02115","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.02115","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018923111","display_name":"Anthony Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Anthony","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127887606","display_name":"Yigit Korkmaz","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Korkmaz, Yigit","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128005926","display_name":"Jiahui Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Jiahui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009392345","display_name":"Minyoung Hwang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hwang, Minyoung","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073332367","display_name":"Abrar Anwar","orcid":"https://orcid.org/0000-0003-4442-4369"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Anwar, Abrar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127926088","display_name":"Sidhant Kaushik","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kaushik, Sidhant","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101485102","display_name":"Aditya Shah","orcid":"https://orcid.org/0009-0003-4611-2489"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shah, Aditya","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128028109","display_name":"Alex S. Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Alex S.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127930324","display_name":"Luke Zettlemoyer","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zettlemoyer, Luke","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031489518","display_name":"Dieter Fox","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fox, Dieter","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123313902","display_name":"Yu Xiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiang, Yu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127947400","display_name":"Anqi Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Anqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034978137","display_name":"Andreea Bobu","orcid":"https://orcid.org/0000-0002-9507-7427"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bobu, Andreea","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127954911","display_name":"Abhishek Gupta","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gupta, Abhishek","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127885368","display_name":"Stephen Tu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tu, Stephen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123206616","display_name":"Erdem Biyik","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Biyik, Erdem","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5127946686","display_name":"Jesse Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Jesse","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.4099000096321106,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.4099000096321106,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.1477999985218048,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.13410000503063202,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6261000037193298},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6137999892234802},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6082000136375427},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5934000015258789},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5498999953269958},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5116999745368958},{"id":"https://openalex.org/keywords/preference","display_name":"Preference","score":0.45080000162124634},{"id":"https://openalex.org/keywords/preference-learning","display_name":"Preference learning","score":0.387800008058548}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7059999704360962},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6758999824523926},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6261000037193298},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6137999892234802},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6082000136375427},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5934000015258789},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5498999953269958},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5482000112533569},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5116999745368958},{"id":"https://openalex.org/C2781249084","wikidata":"https://www.wikidata.org/wiki/Q908656","display_name":"Preference","level":2,"score":0.45080000162124634},{"id":"https://openalex.org/C181204326","wikidata":"https://www.wikidata.org/wiki/Q7239820","display_name":"Preference learning","level":3,"score":0.387800008058548},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.36809998750686646},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.336899995803833},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.32280001044273376},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.3077000081539154},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.2854999899864197},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2797999978065491},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.2770000100135803},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.26429998874664307},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2603999972343445},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.2540000081062317}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.02115","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.02115","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.02115","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.02115","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"General-purpose":[0],"robot":[1,127,153],"reward":[2,52,77,146],"models":[3],"are":[4,38],"typically":[5],"trained":[6,66],"to":[7,29],"predict":[8],"absolute":[9],"task":[10],"progress":[11,43,58,73],"from":[12,101],"expert":[13,23,80],"demonstrations,":[14,24],"providing":[15],"only":[16],"local,":[17],"frame-level":[18,72],"supervision.":[19,63],"While":[20],"effective":[21,99],"for":[22],"this":[25,110],"paradigm":[26],"scales":[27],"poorly":[28],"large-scale":[30],"robotics":[31],"datasets":[32],"where":[33],"failed":[34,106],"and":[35,40,82,104,129,134,139,151,166],"suboptimal":[36,133],"trajectories":[37,93,124],"abundant":[39],"assigning":[41],"dense":[42],"labels":[44],"is":[45,65],"ambiguous.":[46],"We":[47],"introduce":[48],"Robometer,":[49],"a":[50,68,71,83,117,157],"scalable":[51],"modeling":[53],"framework":[54],"that":[55,75,87],"combines":[56],"intra-trajectory":[57],"supervision":[59],"with":[60,67],"inter-trajectory":[61],"preference":[62,85],"Robometer":[64,142],"dual":[69],"objective:":[70],"loss":[74,86],"anchors":[76],"magnitude":[78],"on":[79],"data,":[81],"trajectory-comparison":[84],"imposes":[88],"global":[89],"ordering":[90],"constraints":[91],"across":[92,156],"of":[94,160],"the":[95],"same":[96],"task,":[97],"enabling":[98],"learning":[100,154],"both":[102],"real":[103],"augmented":[105],"trajectories.":[107],"To":[108],"support":[109],"formulation":[111],"at":[112,168],"scale,":[113],"we":[114],"curate":[115],"RBM-1M,":[116],"reward-learning":[118],"dataset":[119],"comprising":[120],"over":[121],"one":[122],"million":[123],"spanning":[125],"diverse":[126,158],"embodiments":[128],"tasks,":[130],"including":[131],"substantial":[132],"failure":[135],"data.":[136],"Across":[137],"benchmarks":[138],"real-world":[140],"evaluations,":[141],"learns":[143],"more":[144],"generalizable":[145],"functions":[147],"than":[148],"prior":[149],"methods":[150],"improves":[152],"performance":[155],"set":[159],"downstream":[161],"applications.":[162],"Code,":[163],"model":[164],"weights,":[165],"videos":[167],"https://robometer.github.io/.":[169]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-04T00:00:00"}
