发表机构
Coarobo GK; The University of Texas at Austin; Advanced Telecommunications Research Institute International (ATR)（Coarobo 合同会社; 德克萨斯大学奥斯汀分校; 国际电气通信基础技术研究所（ATR））
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
OpenRoIS是一个社区驱动的开源中间件，实现了RoIS框架2.0，通过标准化接口和消息，使服务应用能跨平台与物理机器人和虚拟代理交互，解决了硬件更换导致的重写问题。
AI 中文摘要
人机交互的服务应用通常针对单一平台的硬件特定接口编写，因此硬件更换会迫使应用重写。由对象管理组（OMG）标准化的机器人交互服务（RoIS）框架2.0通过定义平台无关模型解决了这一碎片化问题，在该模型中，服务应用通过标准化接口和硬件无关的符号消息与人类-机器人交互（HRI）引擎交互。然而，仅有规范并不能提供实际采用所需的维护实现、软件开发工具包（SDK）和适配器。本文介绍了OpenRoIS，一个社区驱动的开源中间件，提供了RoIS框架2.0的具体实现。它主张，一个开放开发的、范式中立是实现从规范走向实践的关键。OpenRoIS贡献了递归引擎架构，其中单个引擎类实现了主要和子HRI引擎角色，一个内部五方法组件契约，区别于五个外部RoIS接口，将这些接口映射到WebSocket上的JSON-RPC 2.0，一个单一来源的类型管道生成三个一致的语言栈，包括Web和Unity支持的TypeScript和C#客户端SDK，以及包含ROS 2支持的Python适配器SDK。通过公共RoIS接口，服务应用可以经由互联网寻址物理机器人和虚拟代理。所有源代码、接口类型和文档均在Apache-2.0许可证下发布，并在https URL上开放开发。
英文摘要
Service applications for human-robot interaction are commonly written against the hardware-specific interfaces of one platform, so a change of hardware forces a rewrite of the application. The Robotic Interaction Service (RoIS) Framework 2.0, standardized by the Object Management Group (OMG), addresses this fragmentation by defining a platform-independent model in which Service Applications interact with Human-Robot Interaction (HRI) Engines through standardized interfaces and hardware-independent symbolic messages. A specification alone, however, does not provide the maintained implementation, Software Development Kits (SDKs), and adapters needed for practical adoption. This paper presents OpenRoIS, a community-driven open-source middleware providing a concrete implementation of the RoIS Framework 2.0. It takes the position that an openly developed, paradigm-neutral implementation is what carries the standard from specification to practice. OpenRoIS contributes a recursive engine architecture in which a single engine class realizes the main and sub HRI Engine roles, an internal five-method component contract distinct from the five external RoIS interfaces, a mapping of those interfaces onto JSON-RPC 2.0 over WebSocket, a single-source-of-truth type pipeline that generates three consistent language stacks, TypeScript and C# client SDKs that include web and Unity support, and a Python adapter SDK that includes ROS 2 support. Through the common RoIS interfaces, a Service Application can address physical robots and virtual agents over the internet. All source code, interface types, and documentation are released under the Apache-2.0 license and openly developed at https://openrois.org/.
CommentsSubmitted for presentation at the 2027 IEEE/SICE International Symposium on System Integration (SII), Kobe, Japan
