Pith Number

pith:GTPZI2U6

pith:2026:GTPZI2U66RREXMND4TVXBFAEHV

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VISOR: A Vision-Language Model-based Test Oracle for Testing Robots

Aitor Arrieta, Pablo Valle, Paolo Arcaini, Prasun Saurabh, Shaukat Ali

VISOR uses vision-language models to automatically score robot task correctness, quality, and uncertainty from videos.

arxiv:2605.10408 v2 · 2026-05-11 · cs.SE · cs.RO

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Claims

C1strongest claim

VISOR performs automated evaluation of task correctness and quality, addressing the limitations of existing symbolic test oracles, which are task-specific and provide pass/fail judgments without explicitly quantifying task quality. Given the inherent uncertainty in VLMs, VISOR also explicitly quantifies its own uncertainty during test assessments.

C2weakest assumption

That off-the-shelf vision-language models can accurately interpret and score complex, dynamic robot behaviors in videos without task-specific fine-tuning or symbolic grounding.

C3one line summary

VISOR applies VLMs to automate robot test oracles for correctness and quality assessment while reporting uncertainty, with evaluation on GPT and Gemini showing trade-offs in precision and recall but poor uncertainty calibration.

Formal links

3 machine-checked theorem links

Receipt and verification

First computed	2026-05-20T00:03:16.796682Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

34df946a9ef4624bb1a3e4eb7094043d7c1f6cdb0f5b60b7a2d716c0224d5671

Aliases

arxiv: 2605.10408 · arxiv_version: 2605.10408v2 · doi: 10.48550/arxiv.2605.10408 · pith_short_12: GTPZI2U66RRE · pith_short_16: GTPZI2U66RREXMND · pith_short_8: GTPZI2U6

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curl -sH 'Accept: application/ld+json' https://pith.science/pith/GTPZI2U66RREXMND4TVXBFAEHV \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 34df946a9ef4624bb1a3e4eb7094043d7c1f6cdb0f5b60b7a2d716c0224d5671

Canonical record JSON

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    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.SE",
    "submitted_at": "2026-05-11T11:46:57Z",
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