{"paper":{"title":"Eval-Actions: Fine-Grained Execution Quality Evaluation for Robotic Manipulation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hong Liu, Juyi Sheng, Mengyuan Liu, Peiming Li, Tianming Xu, Tiantian Xu, Ziyi Wang","submitted_at":"2026-01-26T17:47:42Z","abstract_excerpt":"Although Vision--Action (VA) and Vision--Language--Action (VLA) policies have advanced robotic manipulation, their evaluation remains dominated by binary success rates, which obscure process-level differences among executions that complete the same task. We introduce Eval-Actions, a diagnostic evaluation methodology and real-robot benchmark for fine-grained execution-quality assessment of learned manipulation policies. Eval-Actions combines criteria-based Expert Grading (EG), Rank-Guided (RG) labels that align measurable motion indicators with expert rankings, and Chain-of-Thought-style (CoT) "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2601.18723","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2601.18723/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}