No Free Checker: A Survey of Verifiers for Robot Policies
A verifier for robot policies reads a candidate behavior and returns a score for how well it did, used both to evaluate vision-language-action policies and to train them. Verifiers range from success detectors and reward models to runtime monitors, safety filters, and temporal-logic specifications. We survey roughly 150 verifiers and compare them along two properties. Availability is how much a verdict costs, how early in a rollout the verdict arrives, and how often a verdict can be asked for. Availability rises as verdicts get cheaper, earlier, and denser. Credibility is how much a high score tells us about the task. Credibility falls as the judgment becomes gameable and self-serving. We...
| Authors | Yang Wan, Xihang Yue, Zhirui Liu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 8 September 2026 |
| Last updated at source | 13 September 2026 |
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