# Progress Reward Modeling for Robotic Learning: A Comprehensive Survey

arXiv: https://arxiv.org/abs/2607.21655 · HTML: https://mlsanity.com/paper/2607.21655/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Placed in Reward modeling and RLHF, one of 10 directions in LLM alignment / RLHF / preference optimisation.
- Builds on 43 of its 54 references that are in the map.
- First posted on arXiv 22 Jul 2026.

## Placed in

- LLM alignment / RLHF / preference optimisation / [Reward modeling and RLHF](https://mlsanity.com/alignment/reward-modeling-and-rlhf/)

## Builds on (most cited first, 30 of 43)

- [π0.5: a Vision-Language-Action Model with Open-World Generalization](https://mlsanity.com/paper/2504.16054/) (2025)
- [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://mlsanity.com/paper/2503.14734/) (2025)
- [R3M: A Universal Visual Representation for Robot Manipulation](https://mlsanity.com/paper/2203.12601/) (2022)
- [Eureka: Human-Level Reward Design via Coding Large Language Models](https://mlsanity.com/paper/2310.12931/) (2023)
- [World Action Models are Zero-shot Policies](https://mlsanity.com/paper/2602.15922/) (2026)
- [VIP: Towards Universal Visual Reward and Representation via Value-Implicit Pre-Training](https://mlsanity.com/paper/2210.00030/) (2022)
- [Language to Rewards for Robotic Skill Synthesis](https://mlsanity.com/paper/2306.08647/) (2023)
- [LIV: Language-Image Representations and Rewards for Robotic Control](https://mlsanity.com/paper/2306.00958/) (2023)
- [Vision-Language Models are Zero-Shot Reward Models for Reinforcement Learning](https://mlsanity.com/paper/2310.12921/) (2023)
- [Text2Reward: Reward Shaping with Language Models for Reinforcement Learning](https://mlsanity.com/paper/2309.11489/) (2023)
- [RL-VLM-F: Reinforcement Learning from Vision Language Foundation Model Feedback](https://mlsanity.com/paper/2402.03681/) (2024)
- [Vision-Language Models as Success Detectors](https://mlsanity.com/paper/2303.07280/) (2023)
- [π0.7: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities](https://mlsanity.com/paper/2604.15483/) (2026)
- [End-to-End Robotic Reinforcement Learning without Reward Engineering](https://mlsanity.com/paper/1904.07854/) (2019)
- [Learning Generalizable Robotic Reward Functions from "In-The-Wild" Human Videos](https://mlsanity.com/paper/2103.16817/) (2021)
- [Learning Language-Conditioned Robot Behavior from Offline Data and Crowd-Sourced Annotation](https://mlsanity.com/paper/2109.01115/) (2021)
- [Vision Language Models are In-Context Value Learners](https://mlsanity.com/paper/2411.04549/) (2024)
- [Video Prediction Models as Rewards for Reinforcement Learning](https://mlsanity.com/paper/2305.14343/) (2023)
- [A Vision-Language-Action-Critic Model for Robotic Real-World Reinforcement Learning](https://mlsanity.com/paper/2509.15937/) (2025)
- [Can Foundation Models Perform Zero-Shot Task Specification For Robot Manipulation?](https://mlsanity.com/paper/2204.11134/) (2022)
- [Vision-Language Models as a Source of Rewards](https://mlsanity.com/paper/2312.09187/) (2023)
- [Unsupervised Perceptual Rewards for Imitation Learning](https://mlsanity.com/paper/1612.06699/) (2016)
- [ReWiND: Language-Guided Rewards Teach Robot Policies without New Demonstrations](https://mlsanity.com/paper/2505.10911/) (2025)
- [Robometer: Scaling General-Purpose Robotic Reward Models via Trajectory Comparisons](https://mlsanity.com/paper/2603.02115/) (2026)
- [Robot Fine-Tuning Made Easy: Pre-Training Rewards and Policies for Autonomous Real-World Reinforcement Learning](https://mlsanity.com/paper/2310.15145/) (2023)
- [SARM: Stage-Aware Reward Modeling for Long Horizon Robot Manipulation](https://mlsanity.com/paper/2509.25358/) (2025)
- [Robo-Dopamine: General Process Reward Modeling for High-Precision Robotic Manipulation](https://mlsanity.com/paper/2512.23703/) (2025)
- [RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies](https://mlsanity.com/paper/2607.04434/) (2026)
- [Code as Reward: Empowering Reinforcement Learning with VLMs](https://mlsanity.com/paper/2402.04764/) (2024)
- [Robotic Offline RL from Internet Videos via Value-Function Pre-Training](https://mlsanity.com/paper/2309.13041/) (2023)

## Built on by (most cited first, 5 of 5)

- [FailBench: How Reliable are VLMs at Judging Robot Task Success?](https://mlsanity.com/paper/2609.03611/) (2026)
- [ProgressCompass: Embodied Progress Reward Models Are Lost Without the Right Context](https://mlsanity.com/paper/2609.36684/) (2026)
- [Video2Skill: From Streaming Experience to Reusable Embodied Skills](https://mlsanity.com/paper/2609.36691/) (2026)
- [Reward-DAgger: Robot-Gated Interactive Imitation Learning with General-Purpose Progress-Based Reward Models](https://mlsanity.com/paper/2610.04054/) (2026)
- [DiVeR: Decision-Critical Verifier Learning for VLA Test-Time Scaling](https://mlsanity.com/paper/2610.04933/) (2026)

## Abstract (arXiv)

Robotic learning takes place in dynamic environments with large behavior spaces. A terminal success signal only tells the robot whether the task is completed. It does not explain whether the current behavior is making progress, remaining unchanged, or undoing earlier progress. For this reason, recent studies have increasingly explored progress rewards that provide feedback during task execution. However, the current literature lacks a shared framework. Existing methods use different observations, goal specifications, output signals, supervision sources, and evaluation protocols. This makes it difficult to compare them and understand what their results actually validate. In this survey, we provide a unified view of progress reward modeling for robotic learning. We organize the field in three connected steps. We first study the interface of a progress model. This defines the problem from the outside by asking what information the model receives and what form of progress signal it produces. We then move inside the model and study the methods used to construct this signal. This reveals the different assumptions and mechanisms behind progress estimation and reward generation. Finally, we examine the data and benchmarks that support these methods. This shows how progress supervision is obtained and what different evaluations actually measure. Together, these three perspectives connect what a progress model is, how it is built, and how its quality is validated. We further summarize the main limitations of current approaches and discuss future research directions.