RoboBugBench: Benchmarking Automated Repair of Real Robot Software Under an Audited Behavioral Oracle

Testing robots requires assessing whether they perform their intended tasks correctly, dependably, and with high quality, a challenge known as the test oracle problem in software testing. Traditionally, this assessment relies on task-specific symbolic oracles for task correctness and on human manual evaluation of robot behavior, which is time-consuming, subjective, and error-prone. To address this, we propose VISOR, a Vision-Language Model (VLM)-based approach for automated test oracle assessment that eliminates the need of expensive human evaluations. 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. We evaluated VISOR using two VLMs, i.e., GPT and Gemini, across four robotic tasks on over 1,000 videos. Results show that Gemini achieves higher recall while GPT achieves higher precision. However, both models show low correlation between uncertainty and correctness, which prevents using uncertainty as a correctness predictor.

When a repair agent runs a test and sees it pass, the result is treated as evidence about the reported defect. We measure how often that treatment is warranted. BSG-VA (buggy-state/candidate-state/gold-fix validation analysis) captures each validation command at its exact working-tree state, extracts a test-only patch, and replays the command on the original buggy code (B), the candidate state (S), and the developer gold fix (G). The captured outcome and the replay results assign every event an evidence role, from gold-aligned bug-discriminating through regression-only to misleading. Across 3,730 events in 643 rollouts on 110 tasks, 46.0% of positive comparable events carry no bug-discriminating information; 23.8% of baseline rollouts, with no feedback injected, close with a patch whose entire positive evidence base is of this kind. A three-arm experiment tests whether returning the B-replay outcome to the agent changes this pattern. Bug-contrast feedback reduces evidence-inadequate closure by 7.8 percentage points relative to an attention-matched reminder (p = 0.0029) and raises bug-discriminating evidence by 7.4 points (p = 0.011), with no detectable cost to repair success. Both estimates fall below the prespecified 10-percentage-point smallest effect size of interest, so practical magnitude remains uncertain. Roughly a third of the improvement traces to the reminder alone; across two exploratory replications, varying the scaffold and the model, the B-replay content adds a detectable increment only with gpt-5.6-sol under the unconstrained tool-use loop. BSG-VA applies post hoc to any replayable repair trajectory that preserves the required code states and execution environment. Keywords: program repair agents, validation evidence, test adequacy, large language models, software quality, controlled experiment.

Understanding how users perceive and respond to robot failures is essential for building robust and trustworthy robot systems. Prior work, however, (i) often treats failures as independent events, (ii) emphasizes binary failure detection, (iii) with rule-based recovery modeling. We present REPAIR-Bench, built on 214 interaction trials from 41 participants, the benchmark spans four induced failure types and provides synchronized facial action units, head pose, speech transcripts, and post-interaction affect and recovery reports. The benchmark spans three novel evaluation tasks that jointly capture the lifecycle of failure in human-robot interaction (HRI): (i) failure detection over inter-dependent interaction sessions, modeling longitudinal user adaptation across repeated failures; (ii) visual failure-type classification beyond binary success/failure formulations; and (iii) user-centered recovery prediction, inferring users' preferred recovery strategies from interaction context rather than relying on manually designed or rule-based strategies. In baseline experiments, hierarchical recurrent modeling improved failure detection over a single-session model (strict F1: 0.80 vs. 0.68), achieved a failure localization mean signed error of -0.51 s, median absolute error of 2.97 s and, for recovery prediction, a QLoRA-tuned Mistral-7B reached Hit@5=0.76 and F1@5=0.32. REPAIR-Bench provides both the HRI and Medical HRI communities with a standardized framework for (1) evaluating robot failures and (2) building transparent, adaptive, and trustworthy recovery systems.