Preprint
Oct 2026
PIER: An Evidence-Gated Execution Interface for Robotic Manipulation
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-sco...
Zoe Li, A. Wang, Zhong-Yu Chen et al.
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