Judges look at your form and how well you do and give you a rating out of 10.0.
They take deductions as you are doing your routine for things such as un-pointed toes, bent legs, falling, etc. Different things are worth different amounts: un-pointed toes are about .1 or a tenth, a step on a landing and bent legs are about a tenth also but can be more. Falling is a .5 (5 tenth) deduction which is a big deduction. In optional levels (7-10) (levels 4-6 have routines designed by USAG that they all do so everyone has they same routine) you have to have certain requirements and if you do not meet the requirements they will deduct. In optional levels different skills are ranked from A-E, A being the easiest and E being the hardest. Different levels require certain amounts of different skills levels, for example you need 3 As and Bs. If you don't have the amount that is required they will deduct. and there are lots of other different deductions.
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The answer to that is yes. there are judges in gymnastics. if you have ever watched a gymnastics moving you will see sometimes there are judges. There are always judges in the big competitions.
A vault has a start value, usually around a 15 or a 16.3. Judges can deduct if you don't correctly execute a vault, have messy legs when in the air, and for falls, steps, or hops on the landing. They can also deduct if you land offcenter or out of bounds