PIER: An Evidence-Gated Execution Interface for Robotic Manipulation

PIER is an execution-authorization interface that separates evidence checks, decision provenance, and re-observation from hardware control. It evaluates visual and tactile inputs and limits re-observation to one per stage. Evaluated on 1,600 threshold-grid cases and 1,200 synthetic traces, PIER reduces valid-state denials under score noise while increasing invalid-state proceeds, but does not claim superiority over equivalent rule logic or certified safety.