STARE-VLA
Progressive Stage-Aware Reinforcement for Fine-Tuning Vision-Language-Action Models
Embedded Files
SimplerEnv - Widowx
Stage1 Stage2 Stage3 Stage4
StackGreenOnYellow
Success
Fail_Reach
Fail_Grasp
Fail_Transport
Fail_Place
PutCarrotOnPlate
Success
Fail_Reach
Fail_Grasp
Fail_Transport
Fail_Place
PutSpoonOnTowel
Success
Fail_Reach
Fail_Grasp
Fail_Transport
Fail_Place
PutEggplantInBasket
Success
Fail_Reach
Fail_Grasp
Fail_Transport
Fail_Place
Maniskill3 - Franka
LiftPegUpright
Success
Fail_Reach
Fail_Grasp
Fail_Lift
Fail_Upright
PushCube
Success
Fail_Reach
Fail_Contact
Fail_Push
Fail_Goal
PullCube
Success
Fail_Reach
Fail_Contact
Fail_Pull
Fail_Goal
StackCube
Success
Fail_Reach
Fail_Grasp
Fail_Transport
Fail_Place
🧭 Stage Success and Failure Criteria
Each manipulation task is divided into several stages.
A stage is considered successful when its specific geometric or contact condition is met; otherwise, if the robot fails to satisfy this condition before timeout or violates stability afterward, the stage is marked as failed.
💡 In short:
Success = stage condition satisfied within time limit.
Failure = condition unmet, unstable, or object lost before transition.
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