HuggingFace Daily Papers·· 1 天前
迈向智能体机器人：模型、数据、环境与 Harness 综述
Towards Agentic Robots: Model, Data, Environment, and Harness
AI 导读
一篇综述将"智能体机器人"（agentic robots）定义为能对数据采集、模型训练、任务规划与真实执行进行目标导向编排的机器人系统，并梳理了从机器人策略到智能体系统的演进，涵盖视觉-语言-动作模型、世界模型与世界-动作模型。论文把现有研究归入 Model、Data、Environment、Harness 四大功能领域下的十七个类别，并讨论了开放挑战与未来方向。
正文
Authors:Chonghan Qin, Dongming Wu, Kaituo Feng, Jiaxu Wang, Xinlei Yu, Peiwen Sun, Yijia Fan, Xilin He, Bingao Chen, Weitong Lian, Ryan Ji, Wenqi Ren, Xiaobin Hu, Dahua Lin, Yu-Gang Jiang, Xiangyu Yue
Abstract:Foundation models are driving a paradigm shift in robotic intelligence, moving beyond low-level action prediction to goal-directed orchestration of data collection, model training, task planning, and real-world execution. We characterize this emerging paradigm as an agentic robots, in which agents reason over human instructions, interact with robotic environments, rectify execution errors autonomously, and dynamically adjust operational strategies. Although this field develops fast, current studies are not well connected. Researchers have no consistent view of how to combine different agentic functions into a complete robot system. This paper provides a unified overview of existing research on agentic robots. We first trace the development from robot policies to agentic systems, covering vision-language-action models, world models, and world-action models. We then clarify the definition and scope of agentic robots and organize existing research into seventeen categories across four functional domains: Model, Data, Environment, and Harness. Across these domains, we examine how agents shape model learning and robot decisions, collect and curate robot data, construct worlds, tasks, and tests for learning and evaluation, and organize capabilities for robot use. Finally, we discuss open challenges and outline directions for future research. Looking forward, we hope this work contributes to a clearer understanding of agentic robots and supports new approaches to making them more capable, reliable, and adaptive.
| Subjects: | Robotics (cs.RO) |
| Cite as: | arXiv:2610.20442 [cs.RO] |
| (or arXiv:2610.20442v1 [cs.RO] for this version) | |
| https://doi.org/10.48550/arXiv.2610.20442 arXiv-issued DOI via DataCite (pending registration) |
Submission history
From: Kaituo Feng [view email]
[v1]
Wed, 14 Oct 2026 16:32:22 UTC (6,174 KB)
来源：HuggingFace Daily Papers · arxiv.org