Qualifications
Because it's an emerging job field, there are no clear-cut requirements to become an energy auditor. However, there are some certificate programs and associate's degrees that can help you develop the right set of skills needed to land the job.
If you happen to have some construction knowledge, good math and mechanical skills, and understand how to check for leaks, you may not need anything other than a high school diploma or GED in order to get a job as an energy auditor. Many are hired and train on the job with an experienced energy auditor. The pay for an apprenticeship is likely to be low, but at least you'll earn as you learn.
The better route to an energy auditor's job lies in getting an associate's degree to pre-qualify for the job; that way, you'll start earning some real money from the start. Two-year degree programs in environmental engineering, applied science in energy management, or a similar program will provide you with a solid base for your energy auditing career.
Groups like the Association of Energy Engineers provide training and testing for a CEA—certified energy auditor—but it will take a while to get to the point where you're eligible for testing. If you have a four-year engineering degree and three years experience, you are eligible to test for the CEA certificate.
A two-year degree requires at least five years of experience to test for certification, and if you have no degree, you'll need ten years or more. It costs $400 to become certified and $300 to renew it every three years (source).
Other qualifications include attention to detail, good customer service skills, and good communication skills so that you can interact with a wide variety of people. Physical flexibility will come in handy in case the whole camera-on-a-robot-vacuum thing doesn't pan out. All crawl spaces are not created equal, so you might need some maneuvering skills, too.