arXiv:2602.19313v1 Announce Type: cross Abstract: While Vision-Language-Action (VLA) models have seen rapid progress in pretraining, their advancement in Reinforcement Learning (RL) remains hampered by low sample efficiency and sparse rewards in real-world settings. Developing generalizable process reward models is essential for providing the fine-grained feedback necessary to bridge this gap, yet existing temporal value functions often fail to generalize beyond their training domains. We introduce TOPReward, a novel, probabilistically grounded temporal value function that leverages the latent world knowledge of pretrained video Vision-Language Models (VLMs) to estimate robotic task progress. Unlike prior methods that prompt VLMs to directly output progress values, which are prone to numerical misrepresentation, TOPReward extracts task progress directly from the VLM's internal token logits. In zero-shot evaluations across 130+ distinct real-world tasks and multiple robot platforms (e.g., Franka, YAM, SO-100/101), TOPReward achieves 0.947 mean Value-Order Correlation (VOC) on Qwen3-VL, dramatically outperforming the state-of-the-art GVL baseline which achieves near-zero correlation on the same open-source model. We further demonstrate that TOPReward serves as a versatile tool for downstream applications, including success detection and reward-aligned behavior cloning.

arXiv:2310.01770v5 Announce Type: replace-cross Abstract: Despite extensive study, the significance of sharpness -- the trace of the loss Hessian at local minima -- remains unclear. We investigate an alternative perspective: how sharpness relates to the geometric structure of neural representations, specifically representation compression, defined as how strongly neural activations concentrate under local input perturbations. We introduce three measures -- Local Volumetric Ratio (LVR), Maximum Local Sensitivity (MLS), and Local Dimensionality -- and derive upper bounds showing these are mathematically constrained by sharpness: flatter minima necessarily limit compression. We extend these bounds to reparametrization-invariant sharpness and introduce network-wide variants (NMLS, NVR) that provide tighter, more stable bounds than prior single-layer analyses. Empirically, we validate consistent positive correlations across feedforward, convolutional, and transformer architectures. Our results suggest that sharpness fundamentally quantifies representation compression, offering a principled resolution to contradictory findings on the sharpness-generalization relationship.