PRM-as-a-Judge: A Dense Evaluation Paradigm for Fine-Grained Robotic Auditing
Current robotic evaluation is still largely dominated by binary success rates, which collapse rich execution processes into a single outcome and obscure critical qualities such as progress, efficiency, and stability. To address this limitation, we propose PRM-as-a-Judge, a dense evaluation paradigm that leverages Process Reward Models (PRMs) to audit policy execution directly from trajectory videos by estimating task progress from observation sequences. Central to this paradigm is the OPD (Outcome-Process-Diagnosis) metric system, which explicitly formalizes execution quality via a task-aligned progress potential. We characterize dense robotic evaluation through two axiomatic properties: ...
| Authors | Yuheng Ji, Yuyang Liu, Huajie Tan et al. |
|---|---|
| Primary category | cs.RO |
| Published | 23 March 2026 |
| Last updated at source | 23 March 2026 |
Models and datasets referencing this paper
- lyy0715/RoboPulsePlusPlusDataset
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