arXiv:2606.27962cs.RO2026-06

构建可扩展的智能体仿真平台,支持大规模训练与闭环数据优化。

Building a Scalable, Reproducible, Evaluatable, and Closed-Loop Simulation Environment Foundation for Embodied Intelligence

  • 基于云原生架构实现仿真环境、任务执行与数据收集一体化。
  • 支持多模型多任务并行,具备动态调度与实时数据过滤能力。
  • 适合研究者用于机器人训练与评估,提升实验可复现性。

本文提出一种面向具身智能的云原生仿真基础设施框架,支持大规模训练、标准化评估与基于仿真的数据采集。该框架将仿真环境生成、任务执行、轨迹收集、模型评估、数据管理与云服务统一为可扩展、可复现的平台。为解决真实机器人数据采集成本高、扩展性差、可复现性低的问题,采用弹性资源调度、容器化仿真、统一数据管理与服务化系统设计,实现多模型、多任务负载下的高效大规模仿真。基于四层架构,提供标准化环境资产、自动化任务生成、轨迹收集、基准评估与闭环数据优化功能。集成D-VLA、RL-VLA3、Sword、Pre-VLA等代表性系统,支持可扩展仿真、动态调度、视觉增强与实时数据过滤。我们认为,云原生仿真基础设施为数据生成、模型训练、标准化评估与真实部署提供了统一基础,将在具身智能未来发展中的关键作用。

原文摘要 · Abstract (English)

This paper presents a cloud-native simulation infrastructure framework for embodied intelligence that supports large-scale training, standardized evaluation, and simulation-based data collection. The framework unifies simulation environment generation, task execution, trajectory collection, model evaluation, data management, and cloud services into a scalable and reproducible platform. To address the high cost, limited scalability, and poor reproducibility of real-world robotic data collection, the framework adopts cloud-native technologies including elastic resource scheduling, containerized simulation, unified data management, and service-oriented system design, enabling efficient large-scale simulation for multi-model and multi-task workloads. Built on a four-layer architecture, the framework provides standardized environment assets, automated task generation, trajectory collection, benchmark evaluation, and closed-loop data optimization. It further integrates representative systems including D-VLA, RL-VLA3, Sword, and Pre-VLA to support scalable simulation, dynamic scheduling, visual augmentation, and real-time data filtering. We argue that cloud-native simulation infrastructure provides a unified foundation for data generation, model training, standardized evaluation, and real-world deployment, and will play a key role in the future development of embodied intelligence.

具身智能仿真平台云原生数据闭环

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