Verification Before Commitment: Active Environmental Verification for Embodied Understanding

Embodied agents must often infer environmental states from partial observations. However, limited evidence may already yield a plausible interpretation without being sufficient to establish its correctness, leading agents to commit prematurely. We address this gap between interpretation plausibility and evidence sufficiency through a verification-based policy, which treats a proposed answer as a provisional hypothesis and shifts subsequent interaction from answer seeking to active hypothesis testing. Using embodied question answering (EQA) as a testbed, we introduce Sure-EQA, a training-free framework that re-examines existing visual support from alternative viewpoints and probes unseen regions for answer-changing evidence. Verification findings then guide whether the candidate should be accepted, further tested, or revised. Experiments on A-EQA and EXPRESS-Bench show consistent improvements in answer correctness and path-weighted performance. Under matched additional observation, Sure-EQA also outperforms continued exploration in reducing missing evidence and correcting mistaken interpretations.