ur-vc-fcbadc22·1 events·first seen Aliases: UR-VC
UR-VC is a training-free offline method for correcting noisy time-derived progress labels used in robot learning, which fail to capture regressions caused by slips or failed grasps in contact-rich manipulation. The approach retrieves similar states across demonstration episodes and aggregates their timestamps to produce corrected progress estimates, requiring no manual annotations or additional value models. The method is evaluated on real bimanual cloth folding tasks and used to construct advantage labels for vision-language-action (VLA) policy training, showing positive trends in task success.