lerobot/Robometer-4B

Reward Model Card for robometer

Robometer is a zero-shot general-purpose robotic reward model built on a fine-tuned Qwen3-VL backbone with progress, preference, and success heads. Given a video and a task description it outputs a per-frame progress signal in [0, 1] and a per-frame success probability — suitable for offline reward labelling and for low-frequency reward signals during RL fine-tuning of robot policies.

This reward model has been trained and pushed to the Hub using LeRobot. See the full documentation at LeRobot Docs.

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How to Get Started with the Reward Model

Train from scratch

lerobot-train \
  --dataset.repo_id=${HF_USER}/<dataset> \
  --reward_model.type=robometer \
  --output_dir=outputs/train/<desired_reward_model_repo_id> \
  --job_name=lerobot_reward_training \
  --reward_model.device=cuda \
  --reward_model.repo_id=${HF_USER}/<desired_reward_model_repo_id> \
  --wandb.enable=true

Writes checkpoints to outputs/train/<desired_reward_model_repo_id>/checkpoints/.

Load the reward model in Python

from lerobot.rewards import make_reward_model

reward_model = make_reward_model(pretrained_path="<hf_user>/<reward_model_repo_id>")
reward = reward_model.compute_reward(batch)

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Model Details

• License: apache-2.0