VERITAS

VERITAS: Visual verification enables inference-time steering and autonomous improvement for robot policies

Researchers introduce VERITAS, a generator-verifier framework pairing a pre-trained generalist robot policy with a gradient-free visual verifier to steer actions at inference time without additional training. Verified rollouts are also used for offline self-improvement via fine-tuning, achieving performance gains comparable to expert demonstrations but without human intervention. The work demonstrates that inference-time verification is a scalable mechanism for autonomous policy improvement during deployment.