# 机器人基础模型中的具身差距

> 原文链接：https://robotics.hellobike.com/papers/2026-08-19-2608-18433
> 频道：papers | 更新日期：2026-08-19 | 标签：arxiv, cs.RO
> 核心摘要：该综述定义机器人基础模型的具身差距，用二维图谱和报告框架梳理跨具身复用与适配。

# 机器人基础模型中的具身差距

::: v-pre
> 原文链接：[The Embodiment Gap in Robot Foundation Models](https://arxiv.org/abs/2608.18433)（arXiv 2608.18433 · 发布日期：2026-08-19）

**The Embodiment Gap in Robot Foundation Models**

该综述定义机器人基础模型的具身差距，用二维图谱和报告框架梳理跨具身复用与适配。

## 核心要点

- 指出扩展数据、模型和基准的视角，未充分说明模型落到特定机器人身体所需工作。
- 将具身差距定义为可复用模型、表示或数据到目标机器人执行使用之间的差距。
- 用二维图谱按共享结构类型与适配阶段定位方法，并梳理三个交叉研究方向。
- 提出适配工作报告框架，揭示成功率之外的工作量和新机器人上仍待完成的问题。

## 英文摘要 (Abstract)

Robot foundation models (RFMs), including vision-language-action (VLA) policies, are often discussed through a scaling view: more data, larger models, and broader benchmarks should improve generalization. In robotics, however, a model can generalize while work still remains before it can run on a robot with a particular body. The work required differs across methods and target robots, and those differences affect practical deployment. We call the gap between reusable models, representations, or data and their use in execution on the target robot the embodiment gap. This survey examines what can be reused across robot embodiments and what must still be implemented on a new robot. We place existing methods on a two-axis map that shows the type of shared structure and the stage at which adaptation is needed for execution on the target robot. We then examine recent work through three overlapping research directions: sharing semantics and perception, sharing robot data and interfaces, and learning correspondence across embodiments. We also propose a reporting framework for adaptation work that success rate alone does not reveal. The framework identifies the work that should be checked when comparing cross-embodiment learning and highlights work that remains on a new robot and questions for future study.

作者：Yukiyasu Domae, Keisuke Shirai, Hanbit Oh, Ryoichi Nakajo, Tomohiro Motoda, Koshi Makihara, Masaki Murooka, Takuma Yagi, Yoshiaki Bando, Ryo Hanai
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## 原始参考来源 (Sources)

- [arXiv 2608.18433：The Embodiment Gap in Robot Foundation Models](https://arxiv.org/abs/2608.18433)