A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards. - Shivansh Patel; Xinchen Yin; Wenlong Huang; Shubham Garg; Hooshang Nayyeri; Li Fei-Fei 001; Svetlana Lazebnik; Yunzhu Li (CoRR, 2025)