SOURCE-LINKED INTELLIGENCE
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
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-08T13:52:59.000Z
First collected: 2026-09-20T20:02:11.508Z. This is not the publication date.