arXiv:2606.19769cs.ROcs.AI2026-06

为具身智能搭建机器人数据标准,让物理经验可积累、可复用。

Data Standards for Humanoid Robotics: The Missing Infrastructure for Physical AI

论文配图:Data Standards for Humanoid Robotics: The Missing Infrastructure for Physical AI
图 1 · 摘自论文原文
  • 提出具身交互数据需保留机器人本体与动作、场景的关联关系。
  • 强调多模态数据重用依赖时间、坐标系、校准等物理一致性。
  • 适合关注人形机器人规模化落地的研究者与开发者。

人形机器人的可扩展性不仅依赖模型与硬件,更取决于物理经验能否在机器人、任务、组织和时间间累积。基于作者参与制定的 ISO/WD 26264-1《人形机器人数据集——第1部分:通用要求》,本文指出数据标准正成为物理AI的基础基础设施。首先,人形机器人数据是具身交互数据,非孤立数字样本,优质数据集须保留机器人本体、动作、任务、场景、执行轨迹与结果之间的关系。其次,其价值取决于物理一致性:多模态流仅在时间、坐标系、标定、运动学、单位与同步假设可追溯时才具备可复用性。第三,主要瓶颈不仅是数据稀缺,更是因高采集成本、数据孤岛与评估不一致导致的经验不可累积。数据标准通过使具身经验可解释、可共享、可追踪、可复用,解决上述问题。通用标准应提供生命周期管理、元数据、溯源、质量、版本与可追溯性等横向基础设施;特定能力部分则需定义操作、行走、人机交互、认知等领域的领域语义。随着AI从屏幕走向身体,数据标准必须从组织数字信息转向结构化物理交互。

原文摘要 · Abstract (English)

The scalability of humanoid robots will depend not only on models and hardware, but also on whether physical experience can accumulate across robots, tasks, organizations, and time. Drawing on the authors' work in developing ISO/WD 26264-1, Humanoid robot datasets -- Part 1: General requirements, within ISO/TC 299/WG 16, this article argues that data standards are becoming foundational infrastructure for Physical AI. We develop three insights. First, humanoid robot data is embodied interaction data, not a collection of isolated digital samples; a useful dataset must preserve the relationship among robot body, action, task, scene, execution trace, and outcome. Second, its value depends on physical coherence: multimodal streams are reusable only when timing, coordinate frames, calibration, kinematics, units, and synchronization assumptions remain inspectable. Third, the main bottleneck is not only data scarcity, but non-cumulative data caused by high collection costs, data silos, and inconsistent evaluation. We argue that humanoid robot data standards address these bottlenecks by making embodied experience interpretable, shareable, traceable, and reusable. A general standard should provide horizontal infrastructure for lifecycle management, metadata, provenance, quality, versioning, and traceability, while capability-specific parts should define domain grammar for manipulation, locomotion, human-robot interaction, cognition, and future humanoid capabilities. As AI moves from screens into bodies, data standards must evolve from organizing digital information to structuring physical interaction.

具身智能数据标准人形机器人

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