LEARNING
MagicSim：可执行具身交互的统一基础设施
Haoran Lu, Songling Liu, Yue Chen, Guo Ye, Mutian Shen, Shuyang Yu, Yu Xiao, Jihai Zhao, Shang Wu, Jianshu Zhang, Xiangtian Gui, Chuye Hong, Yuran Wang, Maojiang Su, Jiayi Wang, Ruihai Wu, Zhaoran Wang, Han Liu
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
MagicSim是一个围绕确定性批处理运行时和共享马尔可夫决策过程构建的具身交互基础设施，通过YAML优先规范解耦内容、放置、行为和智能体暴露，构建多样化的可执行世界。它支持基准测试、强化学习评估和自动收集接口，将高级命令转化为基于机器人的行动而非模拟器状态编辑。
关键词
embodied interactionrobot learningsimulation infrastructureYAML-first specificationMarkov decision process
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