Author

Long Cheng

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Preprint Aug 2026

Dream2Reward: Transition-Alignment Reward Models from Positive Demonstrations for Robotic Manipulation

This work introduces Dream2Reward, which learns a language-conditioned successful latent transition field from positive demonstrations that provides stronger success-failure separation and more informative feedback on low-quality behavior than progress-based alternatives.

Haoyu Zhang, Zecui Zeng, Bin Wang et al. · 0 citations