PRM-as-a-Judge 1.5: A Toolkit for Robot Process Assessment

Yuyang Liu; Yanqing Shen; Ruike Chen; Jifan Zhao; Yuxuan Tian; Yichi Zhang; Tianfeng Long; Zixuan Yin; Yipu Wang; Ziheng Qin; Wenxing Tan; Yang Shi; Mingyu Cao; Runze Xiao; Ziqi Wang; Zhixin Yin; Shiwei Chu; Yi-Fan Zhang; Yao Mu; Yuheng Ji; Yihao Wang; Jun Yan; Zhongyuan Wang; Pengwei Wang; Xiaolong Zheng

arXiv · 2608.14284

PRM-as-a-Judge 1.5: A Toolkit for Robot Process Assessment

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Abstract

Fine-grained robotic evaluation matters for understanding embodied models, going beyond binary success rates and rule-based process scores. We present PRM-as-a-Judge 1.5, a toolkit for robot process assessment that turns rollout videos into dense progress curves and derives multiple fine metrics. PRM-as-a-Judge 1.5 introduces three metrics, building on version 1.0, that characterize failure-side progress, post-drawdown recovery, and success-side execution quality, helping users understand embodied model capability. Based on the rollout videos from benchmarks, we perform a comprehensive assessment of the embodied models, providing some fine-grained metric results and key findings. We further introduce RoboPulse++ to evaluate the reliability of process reward models (PRM), providing evaluators with a more accurate testing platform. Moreover, we release a user-friendly assessment suite, including the benchmark, metric implementation, and visualization tools, to support reproducible manipulation process evaluation. We call on the community to rethink how robots are evaluated and establish transparent, procedural, and reproducible assessment as a foundation for the next generation of embodied intelligence.

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Yuyang Liu, Yanqing Shen, Ruike Chen, Jifan Zhao, Yuxuan Tian, Yichi Zhang, Tianfeng Long, Zixuan Yin, Yipu Wang, Ziheng Qin, Wenxing Tan, Yang Shi, Mingyu Cao, Runze Xiao, Ziqi Wang, Zhixin Yin, Shiwei Chu, Yi-Fan Zhang, Yao Mu, Yuheng Ji, Yihao Wang, Jun Yan, Zhongyuan Wang, Pengwei Wang, Xiaolong Zheng. 2026-08-14. PRM-as-a-Judge 1.5: A Toolkit for Robot Process Assessment. https://arxiv.org/abs/2608.14284

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