arXiv:2605.11665cs.RO2026-05被引 1

一句话让机器人学习实验自动跑起来,无需手动写代码

Nautilus: From One Prompt to Plug-and-Play Robot Learning

论文配图:Nautilus: From One Prompt to Plug-and-Play Robot Learning
图 1 · 摘自论文原文
  • 用自然语言指令自动生成训练、评估、部署全流程
  • 支持多种算法、仿真器和真实机器人无缝对接
  • 适合研究者快速复现和跨模型比较,省去大量工程开发

机器人学习研究分散在不同策略家族、评测集和真实机器人之间,各实现相互耦合,移植极为困难。通用编码代理虽能解决个别问题,但缺乏机器人研究特有的流程先验与验证机制,难以规模化应用。我们提出 NAUTILUS,一个开源实验框架,仅需一句用户指令(如“用基准B评估策略A”),即可生成可复现、可评估、可微调、可部署的完整工作流。NAUTILUS 提供:从机器人研究中提炼的插件式智能体技能包;策略、仿真器/评测集与真实机器人之间的类型化契约;统一接口与执行环境;以及每一步都有自动验证和测试的可信智能体工作流。它不仅能自动生成现有实现所需的适配器和容器,还能封装并接入新策略、仿真器、评测集或机器人,全部通过统一接口连接,显著扩大跨模型验证范围,无需手写胶水代码。如同鹦鹉螺外壳逐层扩展,NAUTILUS 以模块化单元扩展执行能力,旨在降低机器人学习生态中跨家族复现与评估的工程负担。

原文摘要 · Abstract (English)

Robot learning research is fragmented across policy families, benchmark suites, and real robots; each implementation is entangled with the others in a complex combination matrix, making it an engineering nightmare to port any single element. General-purpose coding agents may occasionally bridge specific setups, but cannot close this gap at scale because they lack the procedural priors and validation practices that characterize robotics research workflows. We propose NAUTILUS, an open-source harness that turns a single user prompt -- for example, "Evaluate policy A with benchmark B" -- into ready-to-use reproduction, evaluation, fine-tuning, and deployment workflows. NAUTILUS provides: plug-and-play agent skill sets with distilled priors from robotics research; typed contracts among policies, simulators/benchmarks, and real-world robots; unified interfaces and execution environments; and a trustworthy agentic coding workflow with explicit, automated validation, and testing at each milestone. NAUTILUS can not only automatically generate the required adapters and containers for existing implementations, but also wrap and onboard new or user-provided policies, simulators/benchmarks, and robots, all connected via a uniform interface. This expands cross-validation coverage without hand-written glue code. Like a nautilus shell that grows by adding chambers, NAUTILUS scales by extending its execution in chambered units, making it a research harness for scalability rather than a hand-curated framework, and aiming to reduce the engineering burden of cross-family reproduction and evaluation in the ever-growing robot learning ecosystem.

机器人学习自动化实验工作流引擎

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