arXiv:2607.21588cs.RO2026-07

AXIS构建可扩展的机器人操作数据引擎,支持社区协作采集高质量演示数据。

AXIS: A Growable Community-Driven Data Engine for Scalable Robot Manipulation

论文配图:AXIS: A Growable Community-Driven Data Engine for Scalable Robot Manipulation
图 1 · 摘自论文原文
  • 通过浏览器远程操控收集大规模演示数据,自动创建并验证新任务。
  • 现有数据含207个任务、5万+轨迹,持续预训练使成功率提升5.8%。
  • 适合研究机器人学习、数据集构建及可扩展智能体训练的开发者。

学习有效的机器人操作策略需要多样且高质量的示范数据,但现有数据流水线往往难以扩展,因其依赖专用硬件、中心化运营或固定任务集。我们提出AXIS,一个可生长的社区驱动数据引擎与基准,支持基于浏览器的远程操控进行大规模示范数据采集,能自动生成并验证新的操作任务,并通过自动成功判定、质量过滤、轨迹平滑以及视觉和物理增强将社区收集的数据转化为训练可用格式。当前AXIS数据集包含207个多样化任务和5万+条轨迹。同时,AXIS将数据组织为任务快照,并采用系统化的留出评估协议评估策略。我们在统一的AXIS评估套件下对比视觉-语言-动作(VLA)策略,并分析不同数据量下的缩放行为。在AXIS上持续预训练显著提升了$π_{0.5}$的整体成功率5.8%,优于RoboCasa365预训练模型37.3%,且随着数据量增加表现出一致的性能提升,尤其在布局、传感器噪声和相机扰动条件下收益最大。

原文摘要 · Abstract (English)

Learning effective robot manipulation policies requires diverse, high-quality demonstrations, yet existing data pipelines are often difficult to scale because they rely on specialized hardware, centralized operators, or fixed task suites. We present AXIS, a growable community-driven data engine and benchmark for scalable robot learning, which enables browser-based teleoperation for large-scale demonstration collection, automatically generates and validates new manipulation tasks, and transforms community-collected demonstrations into training-ready data through automated success checking, quality filtering, trajectory smoothing, and visual and physics-based augmentation. The AXIS dataset currently contains 207 diverse tasks and 50K+ trajectories. Meanwhile, AXIS organizes data into task snapshots and evaluates policies with a systematic held-out protocol. We compare vision-language-action (VLA) policies under a unified AXIS evaluation suite and analyze scaling behavior across different data volumes. Continual pretraining on AXIS substantially improves the overall success rate of $π_{0.5}$ by 5.8%, outperforms the model pretrained on RoboCasa365 by 37.3%, and exhibits consistent scaling with increasing data volume, with the largest gains observed under layout, sensor-noise, and camera perturbations.

机器人学习数据引擎社区协作示范学习

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