# \#moralexecution

**URL:** https://discourse.openrobotics.org/tag/moralexecution/597.md

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## [Stress-testing a moral execution guard beyond direct language (QERRA-v2 Classical)](https://discourse.openrobotics.org/t/stress-testing-a-moral-execution-guard-beyond-direct-language-qerra-v2-classical/58314)

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**Author:** [@marunigno-ship-it](https://discourse.openrobotics.org/u/marunigno-ship-it)\
**Replies:** 2\
**Last updated:** [September 22, 2026, 3:35pm UTC](https://discourse.openrobotics.org/t/stress-testing-a-moral-execution-guard-beyond-direct-language-qerra-v2-classical/58314 "2026-09-22T15:35:06Z")

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Hi There ! I have been evaluating an execution guard for robot Behavior Trees (QERRA-v2 Classical, tested in Webots simulation on a PAL Robotics TIAGo) that screens prospective text directives before an action is commit…