Updated 4 h ago · first seen 11 Sept 2026
paper_01M294GKYFD8EZWKRMPBZZ7QS0
- Published
- 11 Sept 2026
- T1 · 4 h ago
- arXiv
- 2609.09250
- T1 · 4 h ago
- Category
- cs.RO
- T1 · 4 h ago
Abstract
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 group the verifiers by who supplies the judgment: human verifiers, rule-based and formal verifiers, learned and pretrained verifiers, and model-intrinsic verifiers. Across the four families, we find that credibility falls as availability rises. Regardless of who supplies the judgment, there is no free checker. We then examine what validates a verifier itself, and how much a high score tells us. Three measures appear in the literature: agreement with human labels, the performance of the policy it trains, and behavior under reward hacking. We close with nine metrics that make a verifier claim checkable, and coordinates for the verifiers still to be built.
Authors 10
Yang Wan, Xihang Yue, Zhirui Liu, Ziyuan Chu, Shuxun Wang, Yuhan Chen, Xiaonan Jiang, Xukun Zhu, Yubo Dong, Linchao Zhu
Specification
- Official page
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
- Arxiv announce type
- cross
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
- arXiv id
- 2609.09250
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
- Categories
- cs.RO, cs.AI, cs.CV, cs.LG, cs.SY, eess.SY
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
- Primary category
- cs.RO
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
- Published
- 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
Each value shows its source, tier and observation time. Conflicting claims are kept side by side and flagged — never averaged. How AI Atlas records facts →
Provenance
Attributed facts
9
Source tiers
T19
Freshest observation
4 h ago
Conflicts
None
No models linked to this paper yet.
- Authors
- Yang Wan, Xihang Yue, Zhirui Liu
As of
Rewind the record: see this entity's attributes exactly as AI Atlas knew them on a given day.
Claim history
Official pageofficial_url1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| https://arxiv.org/abs/2609.09250 | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Abstractabstract1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| 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 group the verifiers by who supplies the judgment: human verifiers, rule-based and formal verifiers, learned and pretrained verifiers, and model-intrinsic verifiers. Across the four families, we find that credibility falls as availability rises. Regardless of who supplies the judgment, there is no free checker. We then examine what validates a verifier itself, and how much a high score tells us. Three measures appear in the literature: agreement with human labels, the performance of the policy it trains, and behavior under reward hacking. We close with nine metrics that make a verifier claim checkable, and coordinates for the verifiers still to be built. | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Arxiv announce typearxiv_announce_type1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| cross | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
arXiv idarxiv_id1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| 2609.09250 | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Categoriescategories1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| cs.RO, cs.AI, cs.CV, cs.LG, cs.SY, eess.SY | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
PDFpdf_url1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| https://arxiv.org/pdf/2609.09250 | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Primary categoryprimary_category1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| cs.RO | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Publishedpublished_at1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| 11 Sept 2026 | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Claims are temporal and append-only: a new observation closes the previous claim (valid_to) instead of overwriting it. Conflicting claims from different sources are kept side by side and flagged — never averaged. Methodology →
New paper: No Free Checker: A Survey of Verifiers for Robot Policies
arxiv
| Source | Document | Type | Tier | Last observed | Snapshots |
|---|---|---|---|---|---|
| arXiv (Atom API + RSS) | rss.arxiv.org/rss/cs.AI | feed | T1· Official | 3 h ago | 1 |
Tier 1 = official/primary, 2 = quality secondary, 3 = community, 4 = unverified. Every snapshot is archived; see all sources and the methodology.