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Score the Steps, Not Just the Goal: VLM-Based Subgoal Evaluation for Robotic Manipulation
Engineering and TechnologyarXiv

Score the Steps, Not Just the Goal: VLM-Based Subgoal Evaluation for Robotic Manipulation

R. Elmallah, K. Chhajer, et al.

Robot learning papers often hide partial competence behind a single success rate. StepEval proposes reporting per-subgoal success-rate vectors and uses vision-language models as cost-aware automated judges from recorded images or videos to make partial competence visible and evaluation scalable and model-agnostic. This research was conducted by Ramy ElMallah, Krish Chhajer, and Chi-Guhn Lee.... show more
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