A profound assumption in peculiar velocity cosmology is bv = 1 at sufficiently large scales, where bv is the volume weighted halo(galaxy) velocity bias with respect to the matter velocity field. However, this fundamental assumption has not been robustly verified in numerical simulations. Furthermore, it is challenged by structure formation theory (BBKS, 1986, ApJ; Desjacques and Sheth, 2010, PRD), which predicts the existence of velocity bias (at least for proto-halos) due to the fact that halos reside in special regions (local density peaks). The major obstacle to measure the volume weighted velocity from N-body simulations is an unphysical sampling artifact. It is entangled in the measured velocity statistics and becomes significant for sparse populations. With recently improved understanding of the sampling artifact (Zhang, Zheng and Jing, 2015, PRD; Zheng, Zhang and Jing, 2015, PRD), for the first time we are able to appropriately correct this sampling artifact and then robustly measure the volume weighted halo velocity bias. (1) We verify bv = 1 within 2% model uncertainty at k < ∼ 0.1h/Mpc and z = 0-2 for halos of mass ∼ 10 12 -10 13 h −1 M⊙, and therefore consolidates a foundation of the peculiar velocity cosmology. (2) We also find statistically significant signs of bv = 1 at k > ∼ 0.1h/Mpc. Unfortunately, whether this is real or caused by residual sampling artifact requires further investigation. Nevertheless, cosmology based on k > ∼ 0.1h/Mpc velocity data shall keep caution on this potential velocity bias.PACS numbers: 98.80.Es; 98.80.Bp; 95.36.+x