DenseReward: Dense Reward Learning via Failure Synthesis for Robotic Manipulation
Paper • 2607.13033 • Published
conversation listlengths 2 2 | images listlengths 1 3 |
|---|---|
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.371"
}
] | [
"data/droid/failure_0000_frame_000000.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.470"
}
] | [
"data/droid/failure_0000_frame_000030.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.534"
}
] | [
"data/droid/failure_0000_frame_000060.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.733"
}
] | [
"data/droid/failure_0000_frame_000090.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.833"
}
] | [
"data/droid/failure_0000_frame_000120.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.932"
}
] | [
"data/droid/failure_0000_frame_000090.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.951"
}
] | [
"data/droid/failure_0000_frame_000120.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.958"
}
] | [
"data/droid/failure_0000_frame_000150.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.951"
}
] | [
"data/droid/failure_0000_frame_000180.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.959"
}
] | [
"data/droid/failure_0000_frame_000210.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.536"
}
] | [
"data/droid/failure_0000_frame_000180.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.570"
}
] | [
"data/droid/failure_0000_frame_000210.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.601"
}
] | [
"data/droid/failure_0000_frame_000240.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.633"
}
] | [
"data/droid/failure_0000_frame_000241.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.628"
}
] | [
"data/droid/failure_0000_frame_000241.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.390"
}
] | [
"data/droid/failure_0001_frame_000000.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.483"
}
] | [
"data/droid/failure_0001_frame_000030.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.786"
}
] | [
"data/droid/failure_0001_frame_000060.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.837"
}
] | [
"data/droid/failure_0001_frame_000090.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.994"
}
] | [
"data/droid/failure_0001_frame_000120.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.930"
}
] | [
"data/droid/failure_0001_frame_000090.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.932"
}
] | [
"data/droid/failure_0001_frame_000120.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.965"
}
] | [
"data/droid/failure_0001_frame_000150.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.954"
}
] | [
"data/droid/failure_0001_frame_000180.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "1.023"
}
] | [
"data/droid/failure_0001_frame_000210.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.985"
}
] | [
"data/droid/failure_0001_frame_000180.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.981"
}
] | [
"data/droid/failure_0001_frame_000210.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.981"
}
] | [
"data/droid/failure_0001_frame_000240.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.986"
}
] | [
"data/droid/failure_0001_frame_000241.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "1.015"
}
] | [
"data/droid/failure_0001_frame_000241.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.335"
}
] | [
"data/droid/failure_0002_frame_000000.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.479"
}
] | [
"data/droid/failure_0002_frame_000030.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.574"
}
] | [
"data/droid/failure_0002_frame_000060.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.730"
}
] | [
"data/droid/failure_0002_frame_000090.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.877"
}
] | [
"data/droid/failure_0002_frame_000120.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.938"
}
] | [
"data/droid/failure_0002_frame_000090.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.931"
}
] | [
"data/droid/failure_0002_frame_000120.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.961"
}
] | [
"data/droid/failure_0002_frame_000150.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.878"
}
] | [
"data/droid/failure_0002_frame_000180.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.834"
}
] | [
"data/droid/failure_0002_frame_000210.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.839"
}
] | [
"data/droid/failure_0002_frame_000180.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.835"
}
] | [
"data/droid/failure_0002_frame_000210.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.879"
}
] | [
"data/droid/failure_0002_frame_000240.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.873"
}
] | [
"data/droid/failure_0002_frame_000270.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.871"
}
] | [
"data/droid/failure_0002_frame_000300.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.730"
}
] | [
"data/droid/failure_0002_frame_000270.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.833"
}
] | [
"data/droid/failure_0002_frame_000300.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.874"
}
] | [
"data/droid/failure_0002_frame_000305.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.331"
}
] | [
"data/droid/failure_0003_frame_000000.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.531"
}
] | [
"data/droid/failure_0003_frame_000030.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.864"
}
] | [
"data/droid/failure_0003_frame_000060.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.975"
}
] | [
"data/droid/failure_0003_frame_000090.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.925"
}
] | [
"data/droid/failure_0003_frame_000120.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.955"
}
] | [
"data/droid/failure_0003_frame_000090.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.933"
}
] | [
"data/droid/failure_0003_frame_000120.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.854"
}
] | [
"data/droid/failure_0003_frame_000150.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.671"
}
] | [
"data/droid/failure_0003_frame_000180.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.639"
}
] | [
"data/droid/failure_0003_frame_000210.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.572"
}
] | [
"data/droid/failure_0003_frame_000180.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.683"
}
] | [
"data/droid/failure_0003_frame_000210.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.832"
}
] | [
"data/droid/failure_0003_frame_000240.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.976"
}
] | [
"data/droid/failure_0003_frame_000270.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.974"
}
] | [
"data/droid/failure_0003_frame_000300.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.983"
}
] | [
"data/droid/failure_0003_frame_000270.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.950"
}
] | [
"data/droid/failure_0003_frame_000300.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.930"
}
] | [
"data/droid/failure_0003_frame_000330.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "0.956"
}
] | [
"data/droid/failure_0003_frame_000348.jpg"
] |
[
{
"from": "human",
"value": "<image>Open a drawer and take some items out"
},
{
"from": "assistant",
"value": "1.041"
}
] | [
"data/droid/failure_0003_frame_000348.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.333"
}
] | [
"data/droid/failure_0004_frame_000000.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.495"
}
] | [
"data/droid/failure_0004_frame_000030.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.473"
}
] | [
"data/droid/failure_0004_frame_000060.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.577"
}
] | [
"data/droid/failure_0004_frame_000090.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.776"
}
] | [
"data/droid/failure_0004_frame_000120.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.937"
}
] | [
"data/droid/failure_0004_frame_000090.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.952"
}
] | [
"data/droid/failure_0004_frame_000120.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.884"
}
] | [
"data/droid/failure_0004_frame_000150.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.772"
}
] | [
"data/droid/failure_0004_frame_000180.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.753"
}
] | [
"data/droid/failure_0004_frame_000202.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.988"
}
] | [
"data/droid/failure_0004_frame_000180.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.949"
}
] | [
"data/droid/failure_0004_frame_000202.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.376"
}
] | [
"data/droid/failure_0005_frame_000000.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.439"
}
] | [
"data/droid/failure_0005_frame_000030.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.536"
}
] | [
"data/droid/failure_0005_frame_000060.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.735"
}
] | [
"data/droid/failure_0005_frame_000089.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.933"
}
] | [
"data/droid/failure_0005_frame_000089.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.372"
}
] | [
"data/droid/failure_0006_frame_000000.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.478"
}
] | [
"data/droid/failure_0006_frame_000030.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.771"
}
] | [
"data/droid/failure_0006_frame_000060.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.830"
}
] | [
"data/droid/failure_0006_frame_000089.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.931"
}
] | [
"data/droid/failure_0006_frame_000089.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.322"
}
] | [
"data/droid/failure_0007_frame_000000.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.569"
}
] | [
"data/droid/failure_0007_frame_000030.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.716"
}
] | [
"data/droid/failure_0007_frame_000060.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.769"
}
] | [
"data/droid/failure_0007_frame_000090.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.878"
}
] | [
"data/droid/failure_0007_frame_000120.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.954"
}
] | [
"data/droid/failure_0007_frame_000090.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.958"
}
] | [
"data/droid/failure_0007_frame_000120.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.901"
}
] | [
"data/droid/failure_0007_frame_000150.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.858"
}
] | [
"data/droid/failure_0007_frame_000180.jpg"
] |
[
{
"from": "human",
"value": "<image>Place objects in cabinet and close it"
},
{
"from": "assistant",
"value": "0.934"
}
] | [
"data/droid/failure_0007_frame_000210.jpg"
] |
End of preview. Expand in Data Studio
DenseReward Dataset
🌐 Project page · 📄 Paper (arXiv:2607.13033)
This is the dataset for DenseReward: Dense Reward Learning via Failure Synthesis for Robotic Manipulation. It pairs single robot-manipulation frames (and short chronological frame windows) with a scalar task-progress reward in [0.000, 1.000], used to finetune a vision-language reward model.
Models trained on this data:
densereward/densereward-1frame: single-frame reward model — one RGB frame + task text → scalar reward.densereward/densereward-3frame-thinking: 3-frame reward model with reasoning — 3 chronological frames + task text → a<think>reasoning word, then a scalar reward.
Dataset structure
data/
droid.zip
isaac.zip
robosuite.zip
libero.zip
splits/
1frame/{train,val,test}.json # 1 image per sample -> reward
3frame-thinking/{train,val,test}.json # 3 chronological images per sample -> <think>reason</think> + reward
manifest.json # trajectory-level train/val/test assignment
Each source's images ship as a zip in data/. Unzip each one in place so it expands to data/droid/*.jpg, matching the paths referenced in splits/*/*.json.
Data format
Each split file is a JSON list of samples in a simple SFT conversation format:
splits/1frame/*.json: one image, plain reward target
{
"conversation": [
{"from": "human", "value": "<image>put the alcohol on the plate"},
{"from": "assistant", "value": "0.327"}
],
"images": ["data/isaac/isaac_alcohol_0_collision_000_frame_000300.jpg"]
}
splits/3frame-thinking/*.json : 3 chronological images (oldest → current; early frames in a trajectory repeat the first frame to pad the window), a reasoning word, then the reward for the last frame. Here the reward drops (0.341 → 0.327) as the robot collides with the object, and the reasoning word reflects it:
{
"conversation": [
{"from": "human", "value": "<image><image><image>put the alcohol on the plate"},
{"from": "assistant", "value": "<think>\ncollision\n</think>\n\n0.327"}
],
"images": [
"data/isaac/isaac_alcohol_0_collision_000_frame_000240.jpg",
"data/isaac/isaac_alcohol_0_collision_000_frame_000270.jpg",
"data/isaac/isaac_alcohol_0_collision_000_frame_000300.jpg"
]
}
The <think> vocabulary is correct | miss | collision | fall | not smooth | failure.
License
Released under Apache License 2.0 for this repository.
Citation
@article{fang2026densereward,
title={DenseReward: Dense Reward Learning via Failure Synthesis for Robotic Manipulation},
author={Fang, Yu and Dong, Wanxi and Liu, Jiaqi and Yang, Yue and Huo, Mingxiao and Mu, Yao and Yao, Huaxiu and Li, Li Erran and Szafir, Daniel and Ding, Mingyu},
journal={arXiv preprint arXiv:2607.13033},
year={2026}
}
- Downloads last month
- 10