发表机构
THU（清华大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
XPolicyLab是统一机器人策略评估与部署的开放生态系统，通过标准化接口降低集成成本，集成42个策略，可适配仿真与真实机器人，减少了策略与环境的适配工作量。
AI 中文摘要
机器人策略的评估与部署目前因特定于模型的软件依赖、数据表示和运行时接口而呈碎片化状态，因此将N个策略连接到M个评估环境需要O(NM)次单独的集成操作。我们提出了XPolicyLab，这是一个统一标准和开放生态系统，可将此成本降低至O(N+M)。XPolicyLab规定了通用的观测、动作和轨迹模式，以及用于观测更新、动作预测、批量执行和回合重置的最小适配器接口；同时，依赖隔离的客户端/服务器架构将策略推理与环境执行分离开来，使双方都能保留其原生软件栈，并且可以在本地或远程运行。该生态系统集成了42个机器人策略，并将它们的安装、调试、服务和评估工作流程标准化。在这些适配器中，特定于模型的代码变化幅度达一个数量级，而面向环境的循环则保持在固定参考的几行代码以内，证实了该契约将异质性限制在策略侧。在一项对照研究中，符合该标准将代表性策略的集成工作量从超过5小时减少到2小时，打包的智能体技能进一步将其减少到30分钟。相同的适配器通过一个接口为RoboTwin、RoboDojo仿真以及标准化的真实机器人评估提供服务。XPolicyLab作为共享基础设施发布，用于在仿真和物理平台上进行可复现的策略比较和标准化部署。项目网站：this https URL。
英文摘要
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/.
CommentsWebsite: xpolicylab.github.io, Code: https://github.com/XPolicyLab/XPolicyLab
