XPolicyLab: ロボットポリシー評価と展開のための統一標準・オープンエコシステム
XPolicyLab: A Unified Standard and Open Ecosystem for Robot Policy Evaluation and Deployment
ロボットポリシーの評価と展開を統一する標準規格とオープンエコシステムを提案し、N個のポリシーとM個の環境の接続コストをO(NM)からO(N+M)に削減した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: XPolicyLab Community, Tianxing Chen, Yue Chen, Tian Nian, Zijian Cai, Guangyu Chen, Wenwei Lin, Qiwei Liang, Zanxin Chen, Peicheng Xiang, Kailun Su, Zixuan Li, Junyuan Tang, Yan Qin, Qiangyu Chen, Shaolong Zhu, Xiang Li, Jiahao Zhang, Weijie Wan, Baijun Chen, Honghao Su, Kehe Ye, Shujia Liu, Kaixuan Wang, Haotian Liang, Yunze Liu, Mingleyang Li, Yuran Wang, Boyu Chen, Hongzhe Bi, Shuhe Huang, Hengkai Tan, Jisong Cai, Yao Mu, Jun Guo, Xiaofeng Wang, Zheng Zhu, Weijie Ke, Hengtao Li, Yuhang Tang, Xiaofan Li, Ganlin Yang, Zhangzheng Tu, Shuai Yang, Wenxuan Song, Pengxiang Ding, Kaidong Zhang, Yu Sun, Junliang Guo, Tong Zhang, Yixing Chen, Rongxu Cui, Zongzheng Zhang, Haoxiang Ma, Junhao Cai, Haoyu Zhang, Senqiao Yang, Jinhui Ye, Pengguang Chen, Shu Liu, Xiu Su, Wenhan Fang, Wenhao Li, Yichao Cao, Chengyao Wang, Qiang Chen, Ping Luo, Wenbo Ding
分類: cs.RO
原文アブストラクト
Robot policy evaluation and deployment remain fragmented by model-specific software dependencies, data representations, and runtime interfaces, so that connecting N policies to M evaluation environments requires O(NM) separate integrations. We present XPolicyLab, a unified standard and open ecosystem that reduces this cost to O(N+M). XPolicyLab specifies common observation, action, and trajectory schemas together with a minimal adapter interface for observation updates, action prediction, batched execution, and episode reset, while a dependency-isolated client/server architecture separates policy inference from environment execution, so that each side retains its native software stack and may run locally or remotely. The ecosystem integrates 42 robot policies and standardizes their installation, debugging, serving, and evaluation workflows. Across these adapters, model-specific code varies by an order of magnitude while the environment-facing loop stays within a few lines of a fixed reference, confirming that the contract confines heterogeneity to the policy side. In a controlled study, conforming to the standard reduces the integration effort of a representative policy from over five hours to two hours, and packaged agent skills reduce it further to thirty minutes. The same adapters serve RoboTwin, RoboDojo simulation, and standardized real-robot evaluation through one interface. XPolicyLab is released as shared infrastructure for reproducible policy comparison and standardized deployment across simulation and physical platforms. Project website: https://xpolicylab.github.io/.
