# Traceable World State：面向机器人系统的溯源感知状态表示与确定性重放框架

> 原文链接：https://robotics.hellobike.com/papers/2026-10-08-2610-12033
> 频道：papers | 更新日期：2026-10-08 | 标签：arxiv, cs.RO
> 核心摘要：TWS针对长期任务世界状态难以溯源与复现的问题，提供语义表示和运行时，并在测试、任务定义与仿真轨迹上验证。

# Traceable World State：面向机器人系统的溯源感知状态表示与确定性重放框架

::: v-pre
> 原文链接：[Traceable World State: A Provenance-Aware State Representation and Deterministic Replay Framework for Robotic Systems](https://arxiv.org/abs/2610.12033)（arXiv 2610.12033 · 发布日期：2026-10-08）

**Traceable World State: A Provenance-Aware State Representation and Deterministic Replay Framework for Robotic Systems**

TWS针对长期任务世界状态难以溯源与复现的问题，提供语义表示和运行时，并在测试、任务定义与仿真轨迹上验证。

## 核心要点

- 长期任务中的观测时间、置信度和修订不同，传统最新估计不利于溯源、复现和审计。
- TWS是中间件中立的语义表示与参考运行时，快照记录实体、关系、观测、置信度和修订元数据。
- 通过38项Python测试，并在10个BEHAVIOR-1K任务中验证153个实体和146个关系导入。
- 103条NVIDIA Unitree G1仿真轨迹终态均精确重放，412/412损坏检出，开销1.72%。

**验证范围与局限**：验证范围包括模式一致性、完整状态生命周期、确定性重放、故障注入、公开任务定义和仿真轨迹。

## 英文摘要 (Abstract)

Robotic systems operating over extended tasks must maintain a world state assembled from observations arriving at different times, with varying confidence and potential revisions. Conventional representations emphasize latest estimates, hindering fact provenance, decision reproduction, or execution auditing. We present Traceable World State (TWS), a middleware-neutral semantic representation and reference runtime for provenance-aware robot world state. A TWS snapshot captures entities, relations, observations, confidence, and revision metadata. Validated update operations transform snapshots immutably, ordered updates support deterministic replay, and a canonical SHA-256 hash chain ensures tamper-evident logs. We evaluate TWS through schema conformance, complete state lifecycles, deterministic replay, and fault injection. Passing 38 tests across Python 3.10-3.14, the framework detects record corruptions, broken hash links, sequence discontinuities, and world mismatches. Across ten public BEHAVIOR-1K task definitions, TWS imported 153 entities and 146 relations with successful validation. On 103 NVIDIA Unitree G1 simulated trajectories containing 78,369 frames, TWS achieved exact terminal-state replay in all episodes and detected 412/412 injected corruptions with a 1.72% storage overhead over Plain JSONL.

作者：Zoe Li
:::

## 原始参考来源 (Sources)

- [arXiv 2610.12033：Traceable World State: A Provenance-Aware State Representation and Deterministic Replay Framework for Robotic Systems](https://arxiv.org/abs/2610.12033)