统一机器人策略评估标准，大幅降低部署成本。
XPolicyLab: A Unified Standard and Open Ecosystem for Robot Policy Evaluation and Deployment
- 定义通用数据格式与接口，实现策略与环境解耦。
- 42个机器人策略接入，集成时间从5小时减至30分钟。
- 适合研究者和工程师快速对比与部署机器人策略。
机器人策略评估与部署因模型特有依赖、数据格式和运行接口而碎片化，连接N个策略与M个评估环境需O(NM)次独立集成。本文提出XPolicyLab，一个统一标准与开源生态，将成本降至O(N+M)。它定义了统一的观测、动作与轨迹格式，以及最小化的适配器接口，支持观测更新、动作预测、批量执行和实验重置；采用依赖隔离的客户端/服务器架构，使策略推理与环境执行分离，各自可保留原生软件栈，本地或远程运行。该生态整合42个机器人策略，标准化安装、调试、服务与评估流程。在适配器中，模型特定代码差异达数量级，但环境侧循环仅需数行固定代码，证实合约将异构性限制于策略端。受控实验表明，遵循标准使典型策略集成时间从超5小时降至2小时，打包代理技能进一步缩短至30分钟。同一适配器同时支持RoboTwin、RoboDojo仿真与标准化真实机器人评估。XPolicyLab作为共享基础设施，促进跨仿真与物理平台的可复现策略比较与标准化部署。项目网站：https://xpolicylab.github.io/。
原文摘要 · Abstract (English)
Robot policy evaluation and deployment remain fragmented by model-specific software dependencies, data representations, and runtime interfaces, so that connecting N policies to M evaluation environments requires O(NM) separate integrations. We present XPolicyLab, a unified standard and open ecosystem that reduces this cost to O(N+M). XPolicyLab specifies common observation, action, and trajectory schemas together with a minimal adapter interface for observation updates, action prediction, batched execution, and episode reset, while a dependency-isolated client/server architecture separates policy inference from environment execution, so that each side retains its native software stack and may run locally or remotely. The ecosystem integrates 42 robot policies and standardizes their installation, debugging, serving, and evaluation workflows. Across these adapters, model-specific code varies by an order of magnitude while the environment-facing loop stays within a few lines of a fixed reference, confirming that the contract confines heterogeneity to the policy side. In a controlled study, conforming to the standard reduces the integration effort of a representative policy from over five hours to two hours, and packaged agent skills reduce it further to thirty minutes. The same adapters serve RoboTwin, RoboDojo simulation, and standardized real-robot evaluation through one interface. XPolicyLab is released as shared infrastructure for reproducible policy comparison and standardized deployment across simulation and physical platforms. Project website: https://xpolicylab.github.io/.
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