外观
论文arXiv 2610.1212320 天前
PIER：用于机器人操作的证据门控执行接口
原文链接：PIER: An Evidence-Gated Execution Interface for Robotic Manipulation（arXiv 2610.12123 · 发布日期：2026-10-08）
PIER: An Evidence-Gated Execution Interface for Robotic Manipulation
为判断观测是否足以授权机器人动作执行，PIER分离证据检查与控制，并在阈值网格和合成轨迹上验证。
核心要点
- 高置信视觉输出在严重遮挡下仍可能误导，生成可行动作不等于观测足以执行。
- PIER用确定性门评估声明的视觉与触觉输入，调用方每阶段最多进行一次重新观测。
- 在1,600个阈值网格案例中未出现声明的不变量违反，布尔基线复现全部非恢复决策。
- 合成噪声下重观测减少有效状态拒绝，但无效状态放行增加；陈旧与虚假高分仍是局限。
验证范围与局限：验证限于阈值网格案例、配对合成轨迹及探索性设置记录，未证明物理任务性能或认证安全。
英文摘要 (Abstract)
Generating a plausible robot action does not establish that current observations justify its execution. Motivated by exploratory observations of high-confidence visual outputs under severe occlusion, we present PIER, an execution-authorization interface that separates evidence checks, decision provenance, and stage-scoped re-observation from hardware control. The deterministic gate evaluates declared visual and tactile inputs, while its caller maintains a budget of at most one re-observation per stage. We evaluate the implementation using 1,600 threshold-grid cases and 1,200 paired synthetic traces spanning score noise, missing tactile inputs, stale observations, and falsely reassuring scores. The finite grid yields zero declared invariant violations, and a matched Boolean baseline reproduces all non-recovery decisions. Under synthetic score noise, re-observation reduces valid-state denials from 57/120 to 18/120 while increasing invalid-state proceeds from 5/120 to 7/120. Stale and falsely reassuring inputs expose limitations that threshold checks alone cannot resolve. Exploratory visual, tactile, and robot setup records provide context but do not establish physical task performance. These results characterize an inspectable authorization interface and its input-contract limitations, without claiming superiority over equivalent rule logic, calibrated tactile accuracy, or certified physical safety.
作者：Zoe Li, Anze Wang, Zhongyu Chen, Jingran Hu
来源
本页事实对应的公开页面，以原文为准。