{
  "schema_version": "2026.08-v1",
  "generated_at": "2026-08-25",
  "view": "module-evolution",
  "purpose": "模块演化视图：只打开某一层，沿时间看方法谱系，标明谁先做、谁工程化、谁扩大本体。",
  "note": "基于已机制核验论文构建；先序关系是当前语料支持的最早时间点，不代表发明权裁决。",
  "modules": [
    {
      "semantic_layer": "state-world-model",
      "chain": [
        {
          "step": "动作条件未来状态表示（predictive latent / dynamics token / future feature）",
          "first_evidence": "ω-0 与 MotionWAM 之前的多篇 WAM 论文（语料标记，未逐一手核）",
          "status": "inherited_context"
        },
        {
          "step": "物理角色控制与动作先验（DeepMimic 示例引导 RL）",
          "paper_ids": [
            "legacy-be0d10ca59bb"
          ],
          "date": "2018-04",
          "who": "DeepMimic",
          "note": "奠基：从示例动作学习物理角色控制"
        },
        {
          "step": "对抗运动先验 AMP（风格化运动生成）",
          "paper_ids": [
            "legacy-a49edec205c8"
          ],
          "date": "2021-04",
          "who": "AMP",
          "note": "对抗判别器把运动风格转化为可学习先验"
        },
        {
          "step": "VLA 语义-动作统一接口（RT-2）",
          "paper_ids": [
            "oa-w4385473486"
          ],
          "date": "2023-07",
          "who": "RT-2",
          "note": "互联网知识进入动作 token 预测"
        },
        {
          "step": "flow-matching VLA 动作生成（π₀）",
          "paper_ids": [
            "oa-w4414079054"
          ],
          "date": "2024-10",
          "who": "π₀",
          "note": "连续动作空间 flow matching 基础"
        },
        {
          "step": "全身动作 latent（SONIC FSQ token）",
          "paper_ids": [
            "legacy-834a4cf02243"
          ],
          "date": "2025-11",
          "who": "SONIC",
          "note": "全身控制器共享 latent 成为后续 WAM 低层接口"
        },
        {
          "step": "视频-触觉-动作联合预测 + 虚拟力目标（VTAM）",
          "paper_ids": [
            "arxiv-2603-23481"
          ],
          "date": "2026-03-24",
          "who": "VTAM",
          "note": "以 π₀.5 为视觉动作基线，联合扩散预测视觉/触觉并用形变派生虚拟力目标抑制视觉模态支配；作者机械臂结果已核验，代码/权重/数据/独立复现未闭合。"
        },
        {
          "step": "视频 world model 作为 WAM 中间路径",
          "paper_ids": [
            "arxiv-2606-19531"
          ],
          "date": "2026-06-17",
          "who": "ImageWAM",
          "note": "图像编辑 KV cache 替代视频生成"
        },
        {
          "step": "自接地未来视频与动作支路信息隔离",
          "paper_ids": [
            "arxiv-2608-00725"
          ],
          "date": "2026-08-01",
          "who": "SelfWAM",
          "note": "未来视频训练只读取干净示范动作，动作支路隔离未来信息并加入机器人自掩码；作者四任务真机结果与 MIT 代码/处理数据已核验，权重仍未开放。"
        },
        {
          "step": "VAE生成先验与语义未来对齐的后训练桥接",
          "paper_ids": [
            "arxiv-2608-05903"
          ],
          "date": "2026-08-06",
          "who": "Robust-WAM",
          "note": "保留 VAE 视频生成路径，在动作流加入 DINOv3 未来语义 query 对齐；GE-Act 代码与 checkpoint 可复查，完整 FastWAM/独立真机复现仍缺。"
        },
        {
          "step": "dual-DiT 统一视频-动作 latent + SONIC 低层",
          "paper_ids": [
            "arxiv-2606-09215"
          ],
          "date": "2026-06-08",
          "who": "MotionWAM"
        },
        {
          "step": "触觉世界模型（视频+力联合去噪）",
          "paper_ids": [
            "arxiv-2607-02840"
          ],
          "date": "2026-07-03",
          "who": "TACO"
        },
        {
          "step": "触觉作为额外生成视图 + cross-view attention",
          "paper_ids": [
            "arxiv-2607-22530"
          ],
          "date": "2026-07-24",
          "who": "ViTacWorld"
        },
        {
          "step": "潜在预测 WAM（reconstruction-free future embedding）",
          "paper_ids": [
            "arxiv-2608-06375"
          ],
          "date": "2026-08-06",
          "who": "ω-0"
        },
        {
          "step": "视频先验离线蒸馏（教师+IDM）",
          "paper_ids": [
            "arxiv-2608-08558"
          ],
          "date": "2026-08-09",
          "who": "Vid2WAM"
        },
        {
          "step": "基地/机械臂解耦与显式ego-motion未来预测",
          "paper_ids": [
            "arxiv-2608-20114"
          ],
          "date": "2026-08-20",
          "who": "DECOWAM",
          "note": "ARMDOG同步数据与14维动作契约，把移动基地视角变化接入WAM。"
        },
        {
          "step": "阶段级JEPA未来与短期WAM解耦",
          "paper_ids": [
            "arxiv-2608-10780"
          ],
          "date": "2026-08-11",
          "who": "StageWAM",
          "note": "自动发现阶段边界，预测下一阶段latent，再注入局部视频/动作生成；不能把阶段进度等同低层控制。"
        },
        {
          "step": "分层触觉世界-动作模型：预测→候选筛选→在线重规划",
          "paper_ids": [
            "arxiv-2608-19574"
          ],
          "date": "2026-08-20",
          "who": "HiTac-WAM",
          "note": "固定K=4的90-trial配置与18次在线重规划必须保留分母口径。"
        },
        {
          "step": "触觉非对称注意力与接触变化偏置进入WAM",
          "paper_ids": [
            "arxiv-2606-26663"
          ],
          "date": "2026-06-25",
          "who": "Tactile-WAM",
          "note": "触觉世界模型的作者真机结果已记录，但代码、权重、数据和控制标定未公开；不得写成可复现部署。"
        },
        {
          "step": "动作条件未来latent用于失败预测与安全报警",
          "paper_ids": [
            "arxiv-2606-23085"
          ],
          "date": "2026-06-30",
          "who": "Foresight",
          "note": "预测器是失败监测器而非策略成功证明；部署延迟和校准分布边界仍待核验。"
        },
        {
          "step": "世界模型驱动的跨地形动力学与记忆规划分支",
          "paper_ids": [
            "arxiv-2606-24089",
            "arxiv-2606-18960"
          ],
          "date": "2026-06",
          "who": "DynaWM / Mem-World",
          "note": "分别覆盖轮腿楼梯动力学与腕视4D记忆；均为作者证据，不能外推跨本体或长期闭环。"
        },
        {
          "step": "WAM 预测—推理鸿沟：任务图、能力投影与失败恢复",
          "paper_ids": ["arxiv-2608-09516"],
          "date": "2026-08",
          "who": "HarnessWAM",
          "note": "把局部 WAM 动作预测接入证据绑定场景状态、能力受限可执行空间投影和双时间尺度恢复；26任务/20 rollout 是作者仿真协议，代码/权重/数据未开放，不能外推人形或真机收益。",
          "evidence": "canonical_paper_and_project_contract"
        },
        {
          "step": "冻结 WAM 候选的协调契约、选择性干预与弃权回退",
          "paper_ids": ["arxiv-2608-02578"],
          "date": "2026-08",
          "who": "CoWAM",
          "note": "把同步、角色兼容、碰撞收敛和风险/效用门槛写成选择器契约；八任务/仿真结果只证明候选干预协议，代码、权重、数据未开放，不能外推真机安全。",
          "evidence": "canonical_paper_and_project_contract"
        },
        {
          "step": "已见/未见本体世界模型泛化与适配后遗忘审计",
          "paper_ids": ["arxiv-2608-05799"],
          "date": "2026-08",
          "who": "XEWorld",
          "note": "把 seen/unseen embodiment、像素动作与 privileged 对照及灾难性遗忘放进同一协议；仅仿真，代码/数据/checkpoint 未开放，指标不得外推真机控制迁移。",
          "evidence": "canonical_paper_and_project_contract"
        },
        {
          "step": "oracle 视觉—触觉未来接口与 WAM 动作消费解耦",
          "paper_ids": ["arxiv-2608-00547"],
          "date": "2026-08",
          "who": "OVTF/AFM",
          "note": "固定成功 HDF 轨迹的 RGB—左右触觉未来，单独比较未来接口如何被动作专家消费；AFM Oracle 32.0%/IFM 23.7%/ACT* 14.9% 仅是七任务仿真协议，oracle 不是学习预测器，代码/权重/数据未开放，不能外推真机 WAM。",
          "evidence": "canonical_paper_and_project_contract"
        },
        {
          "step": "冻结 VLA 上的视觉—触觉有界残差适配",
          "paper_ids": ["arxiv-2608-15816"],
          "date": "2026-08",
          "who": "ViTaR",
          "note": "EGM 选择是否/何处修正，RAM 以 7D 有界残差调制冻结 OpenVLA-OFT；作者报告 UniVTAC 61.3% 与 RM65-B 三任务 48.3%，但代码/权重/数据未开放，真机仅作者单团队证据，不能外推人形或替换生产 WAM/VLA/WBC。",
          "evidence": "canonical_paper_and_project_contract"
        },
        {
          "step": "分层接触—形变—滑移预测驱动候选动作筛选",
          "paper_ids": ["arxiv-2608-19574"],
          "date": "2026-08",
          "who": "HiTac-WAM",
          "note": "把触觉后果按接触、3D 形变、滑移风险分层预测，并用预测—观测偏差触发撤退/重规划；IMETA-Y1 单臂作者结果，滑移 AUPRC 未校准，代码/权重/数据未开放，不能替换生产 WAM/VLA/WBC。",
          "evidence": "canonical_paper_and_project_contract"
        },
        {
          "step": "视频世界模型保留、动作模块轻量化与低延迟对齐",
          "paper_ids": ["arxiv-2608-02365"],
          "date": "2026-08",
          "who": "Faster-WAM / Huawei teams",
          "note": "用跨层 KV-Fusion 与 RoPE 对齐取代深动作模块；作者报告 32-step 66.5ms，但约 5.05B 可训练参数、无真机/代码/权重，不能把延迟结果当部署保证。",
          "evidence": "canonical_paper_and_project_contract"
        },
        {
          "step": "视频扩散教师与 IDM 伪动作离线蒸馏进 5B WAM 学生",
          "paper_ids": ["arxiv-2608-08558"],
          "date": "2026-08",
          "who": "Vid2WAM / Fudan University and partners",
          "note": "source-aware residual adapter 隔离真实/伪动作噪声；公开评测代码和 benchmark checkpoint，但教师、IDM、伪数据和蒸馏训练栈未开放，Piper 双臂结果不能外推人形。",
          "evidence": "canonical_paper_and_project_contract"
        },
        {
          "step": "文本落地与空间深度未来引导 WAM 动作专家",
          "paper_ids": ["arxiv-2608-08839"],
          "date": "2026-08",
          "who": "SG-WAM",
          "note": "Qwen3.5-2B 规划器分别对齐语义和深度未来并门控视频/动作专家；Cobot 双臂图表结果、项目页 404、制品未开放，不能外推人形或移动操作。",
          "evidence": "canonical_paper_and_project_contract"
        },
        {
          "step": "移动端视频世界专家、Chain-of-Foresight 与轻量动作专家",
          "paper_ids": ["arxiv-2608-04657"],
          "date": "2026-08",
          "who": "MobileWAM",
          "note": "将视频扩散先验和未来链带入 RGB-only 移动操作；ARX Lift2 结果缺试验分母、代码承诺未发布，定位为轮臂受控观察而非人形/足式证据。",
          "evidence": "canonical_paper_and_project_contract"
        },
        {
          "step": "RGB/光流/深度/DINO 多目标未来监督与 RGB-only 部署",
          "paper_ids": ["arxiv-2608-04996"],
          "date": "2026-08",
          "who": "DreamWAM",
          "note": "训练期联合预测多种未来目标、部署仍只读 RGB；公开代码/权重但代码无许可证，8×H20和单一双臂证据限制迁移。",
          "evidence": "canonical_paper_and_project_contract"
        },
        {
          "step": "VLM-RAG 语义参数化接入移动底盘 MPC 与阻抗控制",
          "paper_ids": ["arxiv-2604-19522"],
          "date": "2026-04",
          "who": "GenerativeMPC",
          "note": "真实证据只覆盖差分底盘人感导航，双臂操作为 Isaac Sim；异步 VLM 不适合高频闭环，代码/日志未开放。",
          "evidence": "canonical_paper_and_project_contract"
        }
      ]
    },
    {
      "semantic_layer": "planning-action-generation",
      "chain": [
        {
          "step": "VLA 直接动作映射",
          "status": "inherited_context"
        },
        {
          "step": "扩散策略（action diffusion）",
          "paper_ids": [
            "oa-w4385403811"
          ],
          "date": "2023-07",
          "who": "Diffusion Policy",
          "note": "把扩散生成用于连续动作序列"
        },
        {
          "step": "VLA 直接动作映射（RT-1/RT-2）",
          "paper_ids": [
            "oa-w4385430679",
            "oa-w4385473486"
          ],
          "date": "2023-07",
          "who": "RT-1 / RT-2",
          "note": "语言条件机器人策略规模化"
        },
        {
          "step": "开源 VLA（OpenVLA/Octo）",
          "paper_ids": [
            "oa-w4399695759",
            "oa-w4402353985"
          ],
          "date": "2024-06/07",
          "who": "OpenVLA / Octo",
          "note": "开放权重/数据成为社区基座"
        },
        {
          "step": "flow-matching 动作专家（π₀）",
          "paper_ids": [
            "oa-w4414079054"
          ],
          "date": "2024-10",
          "who": "π₀",
          "note": "VLM+动作专家 flow matching 范式"
        },
        {
          "step": "flow-matching 动作生成 + 动作 chunk",
          "paper_ids": [
            "arxiv-2606-19531",
            "arxiv-2608-02365"
          ],
          "date": "2026-06~08",
          "who": "ImageWAM / Faster-WAM"
        },
        {
          "step": "动作 DiT 单层头 + KV-Fusion（低时延）",
          "paper_ids": [
            "arxiv-2608-02365"
          ],
          "date": "2026-08-03",
          "who": "Faster-WAM"
        },
        {
          "step": "触觉条件动作专家 + advantage-conditioned 离线 RL",
          "paper_ids": [
            "arxiv-2607-02840"
          ],
          "date": "2026-07-03",
          "who": "TACO"
        }
      ]
    },
    {
      "semantic_layer": "wbc-contact-control",
      "chain": [
        {
          "step": "全身 VLA / loco-manipulation",
          "status": "inherited_context"
        },
        {
          "step": "物理角色控制（DeepMimic）",
          "paper_ids": [
            "legacy-be0d10ca59bb"
          ],
          "date": "2018-04",
          "who": "DeepMimic",
          "note": "全身物理角色控制奠基"
        },
        {
          "step": "人形基础模型（GR00T N1）",
          "paper_ids": [
            "legacy-86fef336ea61"
          ],
          "date": "2025-03",
          "who": "GR00T N1",
          "note": "NVIDIA 人形通用策略开放"
        },
        {
          "step": "力自适应人形 loco-manipulation（FALCON）",
          "paper_ids": [
            "legacy-0d624393d354"
          ],
          "date": "2025-05",
          "who": "FALCON",
          "note": "3D 末端力课程隐式力适应"
        },
        {
          "step": "SONIC 全身控制接口",
          "paper_ids": [
            "legacy-834a4cf02243"
          ],
          "date": "2025-11",
          "who": "SONIC",
          "note": "统一全身动作 latent 低层控制器"
        },
        {
          "step": "统一 motion latent 覆盖腿/躯干/高度/足交互/手",
          "paper_ids": [
            "arxiv-2606-09215"
          ],
          "date": "2026-06-08",
          "who": "MotionWAM"
        },
        {
          "step": "触觉增强统一 WBC RL（四足）",
          "paper_ids": [
            "arxiv-2607-10132"
          ],
          "date": "2026-07-11",
          "who": "TAC-LOCO"
        },
        {
          "step": "分层多时间尺度触觉控制（30Hz 细化）",
          "paper_ids": [
            "arxiv-2607-07287"
          ],
          "date": "2026-07-08",
          "who": "TouchWorld"
        }
      ]
    },
    {
      "semantic_layer": "sensor-encoding",
      "chain": [
        {
          "step": "视觉+本体感受编码",
          "status": "inherited_context"
        },
        {
          "step": "视觉-语言骨干编码（VLA 视觉编码）",
          "paper_ids": [
            "oa-w4399695759",
            "oa-w4414079054"
          ],
          "date": "2024",
          "who": "OpenVLA / π₀",
          "note": "VLM 视觉特征作为策略输入"
        },
        {
          "step": "全身动作 token（SONIC FSQ）",
          "paper_ids": [
            "legacy-834a4cf02243"
          ],
          "date": "2025-11",
          "who": "SONIC",
          "note": "FSQ 离散动作 token 供低层解码"
        },
        {
          "step": "触觉 token / 12D 力编码",
          "paper_ids": [
            "arxiv-2607-02840",
            "arxiv-2607-07287"
          ],
          "date": "2026-07",
          "who": "TACO / TouchWorld"
        },
        {
          "step": "第一视角视觉→密集力/接触预测与跨数据集 OOD",
          "paper_ids": [
            "arxiv-2608-15060"
          ],
          "date": "2026-08-15",
          "who": "EgoTac",
          "note": "人体手部数据与多来源接触评测，不能等同机器人触觉控制泛化。"
        },
        {
          "step": "触觉latent token + 离线优势重标注进入VLA",
          "paper_ids": [
            "arxiv-2607-23782"
          ],
          "date": "2026-07-26",
          "who": "N0-VTLA",
          "note": "触觉原生VLA与ALTER优势标签提升真机策略，但NeoReal各任务试验分母未披露。"
        },
        {
          "step": "触觉数组→紧凑 latent（taxel）",
          "paper_ids": [
            "arxiv-2607-10132"
          ],
          "date": "2026-07-11",
          "who": "TAC-LOCO"
        },
        {
          "step": "点云重建预训练视觉-触觉编码",
          "paper_ids": [
            "arxiv-2603-13869"
          ],
          "date": "2026-03-14",
          "who": "TransDex"
        },
        {
          "step": "行为世界模型接入全身控制与恢复",
          "paper_ids": [
            "arxiv-2608-18234"
          ],
          "date": "2026-08-18",
          "who": "GigaBrain-WBC-0.5",
          "note": "世界模型输出必须经过WBC与独立安全平面；不把展示性硬件结果外推为可复现部署。"
        },
        {
          "step": "人类全手触觉预训练迁移到机器人策略",
          "paper_ids": [
            "arxiv-2607-01067"
          ],
          "date": "2026-07-02",
          "who": "TTP",
          "note": "H-Tac完整语料仍未开放；代码、四组权重和样本可核验，但许可证必须按代码/模型/数据分层。"
        }
      ]
    },
    {
      "semantic_layer": "data-production-collection",
      "label_zh": "数据产生与采集",
      "coverage_status": "primary_reviewed_chain_cross_embodiment_data_contract_pending",
      "chain": [
        {
          "step": "真实场景人体—物体—本体重建数据",
          "paper_ids": [
            "legacy-0bc5b8baaba0"
          ],
          "date": "2026-02-26",
          "who": "EmbodMocap",
          "note": "把野外 4D 人体/场景重建接入具身数据产生层；机器人动作与许可证边界需单独核验。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "人形视觉-触觉-动作数据集",
          "paper_ids": [
            "arxiv-2606-31836"
          ],
          "date": "2026-06-30",
          "who": "RoboTacDex",
          "note": "G1 真实灵巧操作数据将视觉、触觉与动作契约绑定；跨本体与失败数据覆盖仍需核验。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "人类全手触觉与动作预训练数据",
          "paper_ids": [
            "arxiv-2607-01067"
          ],
          "date": "2026-07-01",
          "who": "TTP",
          "note": "人类手部触觉预训练向机器人策略迁移；H-Tac完整语料未开放，不能把样本/代码当完整训练闭包。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "第一视角真实环境触觉预测数据",
          "paper_ids": [
            "arxiv-2608-15060"
          ],
          "date": "2026-08-15",
          "who": "EgoTac",
          "note": "野外第一视角与多来源接触预测作为视觉-触觉前置数据基础设施；无机器人闭环收益外推。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "人形全身多模态 ω-HOME 数据系统",
          "paper_ids": [
            "arxiv-2608-06375"
          ],
          "date": "2026-08-06",
          "who": "ω-0",
          "note": "把多模态人形全身数据与 latent WAM/SONIC 接口绑定；数据许可、跨本体和独立复现仍需分层核验。",
          "evidence": "canonical_paper_and_primary_review"
        }
      ],
      "gap": "数据采集链已覆盖人体/场景、真机视觉触觉动作和人形全身，但采集失败分布、标定版本、跨本体统一 schema、许可证闭包和独立复现仍未完成。",
      "required_evidence": [
        "规范 paper/project ID",
        "一手继承/替换/采用证据",
        "代码/权重/数据/许可证边界",
        "同协议实验或独立复现（如声称工程化）"
      ]
    },
    {
      "semantic_layer": "data-curation-valuation",
      "label_zh": "数据筛选、标注与价值评估",
      "coverage_status": "primary_reviewed_chain_failure_and_selection_contract_pending",
      "chain": [
        {
          "step": "数据中心的人形运动清洗、重定向、real-to-sim 标定与真机反馈闭环",
          "paper_ids": [
            "arxiv-2606-27813"
          ],
          "date": "2026-06-26",
          "who": "Booster Lab",
          "note": "论文核验了动作数据修复/筛选、重定向、real-to-sim 标定、AMP 训练、跨模拟器验证和 T1/K1 硬件反馈；专属代码、权重与专家动作库未发布，K1 仅初步跨平台验证。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "结构感知的示范 primitive/transition 选择与 medoid 压缩",
          "paper_ids": [
            "arxiv-2607-06442"
          ],
          "date": "2026-07-07",
          "who": "SIEVE",
          "note": "从时序分段、视觉表征和结构暴露中选择可复用示范；作者报告三类数据/本体上半量数据与半量步数超过全量训练，但策略结果只在仿真，仓库无 LICENSE、无冻结 episode 清单和独立复现。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "失败前兆与最晚可干预时刻作为标注/采集价值",
          "paper_ids": [
            "arxiv-2607-16921"
          ],
          "date": "2026-07-18",
          "who": "PREFAIL",
          "note": "把二元失败标签推进到可干预窗口，服务于失败样本优先级和安全回归；代码与数据未发布，在线证据为单例，不能当作通用数据价值模型。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "失败轨迹生成与因果后果监督进入 WAM 数据闭环",
          "paper_ids": [
            "arxiv-2608-10232"
          ],
          "date": "2026-08-10",
          "who": "FACT",
          "note": "保留失败动作作为未来视频/任务进度后果监督而非模仿目标；官方仿真制品和 checkpoint 可复查，但真实双臂部署、标定、失败原始日志与独立复现未闭合。",
          "evidence": "canonical_paper_and_primary_review"
        }
      ],
      "gap": "四条一手核验链已建立，但数据选择的统一效用函数、跨本体失败/标定 schema、冻结样本清单、独立复现和同协议数据-算力-性能曲线仍未完成。",
      "required_evidence": [
        "规范 paper/project ID",
        "一手继承/替换/采用证据",
        "代码/权重/数据/许可证边界",
        "同协议实验或独立复现（如声称工程化）"
      ]
    },
    {
      "semantic_layer": "multimodal-alignment",
      "label_zh": "多模态对齐与融合",
      "coverage_status": "primary_reviewed_chain_cross_benchmark_pending",
      "chain": [
        {
          "step": "视觉-触觉跨模态表征与接触预测",
          "paper_ids": [
            "arxiv-2506-15953"
          ],
          "date": "2025-06-19",
          "who": "ViTacFormer",
          "note": "跨模态表征与下一触觉帧预测；机械臂/灵巧手证据，不能外推人形。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "点云重建预训练对齐透明物体触觉策略",
          "paper_ids": [
            "arxiv-2603-13869"
          ],
          "date": "2026-03-14",
          "who": "TransDex",
          "note": "视觉-触觉与点云重建预训练结合；真实制品与跨手型边界单独核验。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "预测式触觉基础模型与反应式控制分层",
          "paper_ids": [
            "arxiv-2607-07287"
          ],
          "date": "2026-07-08",
          "who": "TouchWorld",
          "note": "EgoTouch 人类交互视频预训练与 30Hz 触觉细化并行；跨本体指标尚未统一。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "触觉世界模型知识绝缘后训练",
          "paper_ids": [
            "arxiv-2607-02840"
          ],
          "date": "2026-07-03",
          "who": "TACO",
          "note": "视频+力联合去噪、失败想象和 VLA 后训练；代码骨架可见，权重/完整数据闭包缺失。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "视角感知跨视图视觉-触觉世界模型",
          "paper_ids": [
            "arxiv-2607-22530"
          ],
          "date": "2026-07-24",
          "who": "ViTacWorld",
          "note": "触觉作为额外生成视图并用 cross-view attention 扩展数据；项目制品仍未完整开放。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "冻结基础 VLA 的视觉-触觉残差适配",
          "paper_ids": [
            "arxiv-2608-15816"
          ],
          "date": "2026-08-16",
          "who": "ViTaR",
          "note": "应归入多模态对齐/融合而非世界模型：EGM/RAM 只对冻结 VLA 做有界执行调制；UniVTAC 是第三方基准，ViTaR 自有代码、权重、训练日志与触觉标定仍未开放，不能外推为已复现真机路线。",
          "evidence": "canonical_paper_and_primary_review"
        }
      ],
      "gap": "六条链已按一手论文/评审建立，但跨本体、统一动作/传感器契约、独立复现和同协议横评仍未完成。",
      "required_evidence": [
        "规范 paper/project ID",
        "一手继承/替换/采用证据",
        "代码/权重/数据/许可证边界",
        "同协议实验或独立复现（如声称工程化）"
      ]
    },
    {
      "semantic_layer": "embodiment-actuation-sysid",
      "label_zh": "本体、执行器与系统辨识",
      "coverage_status": "primary_reviewed_chain_actuator_and_embodiment_contract_pending",
      "chain": [
        {
          "step": "主动探索替代纯域随机化的腿式系统辨识",
          "paper_ids": [
            "legacy-8740d74d3ae1"
          ],
          "date": "2025-05-20",
          "who": "Sampling-Based Active System Identification",
          "note": "用主动探索采样动力学参数以缩小腿式 Sim2Real gap；Go2 真机证据较强，但真实数据/最终管线未发布，G1 未运行主动阶段，不能外推跨本体。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "负载与机体动力学因素分解的全身适配",
          "paper_ids": [
            "arxiv-2606-03297"
          ],
          "date": "2026-06-02",
          "who": "SplitAdapter",
          "note": "在 Unitree G1 九种质量×高度条件中分离负载与机体偏差；每格仅 3 次，依赖外部动捕/高摩擦手套，代码、日志和标定未开放。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "主动脚趾硬件与控制协同设计",
          "paper_ids": [
            "arxiv-2606-19699"
          ],
          "date": "2026-06-18",
          "who": "Active Toes Study",
          "note": "在相同奖励和训练流程下评估主动脚趾对 CoT、冲击和路径偏差的影响；完全仿真且速度不全面占优，只能先做实体 A/B 小样，不能直接改本体。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "动力学蒸馏世界模型与动量目标稳定连续楼梯",
          "paper_ids": [
            "arxiv-2606-24089"
          ],
          "date": "2026-06-23",
          "who": "DynaWM",
          "note": "以世界模型地形表征正则和动量目标抑制学生坍塌；JiaRan 轮腿两种工况各 5/5，但单一八自由度本体、无开放资源和独立复现。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "500Hz 学习驱动器接口的执行器现实塑形",
          "paper_ids": [
            "arxiv-2607-02205"
          ],
          "date": "2026-07-02",
          "who": "Actuator Reality Shaping",
          "note": "以逐关节 2-DoF 学习驱动器重塑绕过精确系统辨识；单关节与 7-DoF 臂各 5 次，31-DoF 本体只定性，代码权重与独立复现缺失。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "低成本伺服遥测、可微动力学与无传感器力感知",
          "paper_ids": [
            "arxiv-2607-11734"
          ],
          "date": "2026-07-13",
          "who": "NeuralActuator",
          "note": "把伺服遥测、可微动力学和无传感器力感知放入真实开放工件；Franka 主要是离线证据，扭矩标定、长期漂移和独立复现仍待核验。",
          "evidence": "canonical_paper_and_primary_review"
        }
      ],
      "gap": "六条链覆盖主动系统辨识、负载分解、硬件协同、动力学蒸馏、执行器接口和伺服遥测；G1/H2/M20/R1 的统一动作/力矩/延迟契约、在线安全回退、跨本体多 seed 与长期漂移回归仍未完成。",
      "required_evidence": [
        "规范 paper/project ID",
        "一手继承/替换/采用证据",
        "代码/权重/数据/许可证边界",
        "同协议实验或独立复现（如声称工程化）"
      ]
    },
    {
      "semantic_layer": "sim2real-adaptation",
      "label_zh": "Sim2Real 与在线适配",
      "coverage_status": "primary_reviewed_chain_cross_embodiment_and_safety_contract_pending",
      "chain": [
        {
          "step": "少量真实轨迹学习 delta-action 并回灌仿真的实机残差适配",
          "paper_ids": [
            "legacy-261e4be27e3c"
          ],
          "date": "2025-02-03",
          "who": "ASAP",
          "note": "以少量真实轨迹对齐仿真物理并学习残差动作；G1 4-DoF 踝部专用，制品虽较完整但低层控制风险、衍生数据条款和跨实验室复现仍未闭合。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "轮足移动操作任务套件的直接 sim-to-real 与失败反例",
          "paper_ids": [
            "arxiv-2507-21796"
          ],
          "date": "2025-07-29",
          "who": "MoDeSuite",
          "note": "Spot 带臂在 Place/Drag 上可迁移、Curtain 明显失败；官方任务与控制器存在但根仓无 LICENSE、数据/模型分享面未完成字节与许可核验，不能外推人形。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "特权教师→RGB DAgger 学生与 G1 real-to-sim 对齐",
          "paper_ids": [
            "arxiv-2511-15200"
          ],
          "date": "2025-11-19",
          "who": "VIRAL",
          "note": "将视觉随机化、G1 手部/相机对齐、公开 checkpoint/动作文件和作者循环演示接入可运行栈；无独立 G1 复现、原始日志、安全边界和完整数据卡。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "跨域共享历史表征统一视觉与动力学 gap",
          "paper_ids": [
            "arxiv-2607-01410"
          ],
          "date": "2026-07-01",
          "who": "BIFROST",
          "note": "以 bisimulation 风格表征连接 sim2sim 与 SO-101 实体任务；仅三种实体训练种子、成功率单位存在歧义，代码/权重/数据和独立复现缺失。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "测试时探测动作驱动的上下文系统辨识",
          "paper_ids": [
            "arxiv-2606-26025"
          ],
          "date": "2026-06-24",
          "who": "ICWM",
          "note": "用 20 个任务无关探测动作构造上下文，在不更新 VLA 参数时适配相机/形态变化；UR5e 六个未见视角共 600 次作者试验，但错误上下文可负迁移、无代码权重数据且缺人形/足式安全层。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "0.4 秒关节限位/负载识别的足式在线本体适配",
          "paper_ids": [
            "arxiv-2608-01506"
          ],
          "date": "2026-08-02",
          "who": "Rapid Embodiment Adaptation",
          "note": "Go2 两类参数变化、四条件各 10 次试验；只证明同一四足平台的快速识别，训练闭包、跨本体和动态变化证据未开放。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "稀疏真实图像驱动的行为视角 Real-to-Sim 修复",
          "paper_ids": [
            "arxiv-2608-06827"
          ],
          "date": "2026-08-07",
          "who": "R2S-EGO",
          "note": "六张真实输入降低 G1 行为视角域差并保持五个策略种子方向一致；单一坐下技能、无制品、成本和独立复现均缺失。",
          "evidence": "canonical_paper_and_primary_review"
        }
      ],
      "gap": "七条链覆盖残差校准、任务套件失败反例、视觉学生、表征对齐、测试时系统辨识和足式/人形适配，但跨本体统一适配器、在线安全回退、同协议多 seed 与独立复现仍未完成。",
      "required_evidence": [
        "规范 paper/project ID",
        "一手继承/替换/采用证据",
        "代码/权重/数据/许可证边界",
        "同协议实验或独立复现（如声称工程化）"
      ]
    },
    {
      "semantic_layer": "deployment-safety-continual",
      "label_zh": "部署、安全、回归与持续学习",
      "coverage_status": "primary_reviewed_chain_fail_closed_and_continual_regression_pending",
      "chain": [
        {
          "step": "控制器旁路 OOD 检测与故障归因",
          "paper_ids": [
            "legacy-5a2147857d18"
          ],
          "date": "2026-02-02",
          "who": "RAPT",
          "note": "以本机名义轨迹概率模型在 50Hz 旁路执行 OOD 检测与故障归因；官方 BSD 仓、G1 checkpoint、仿真集和部分真实日志可查，但不等于控制器或认证安全系统，跨本体和独立验证缺失。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "动作条件世界模型潜变量的长时故障检测",
          "paper_ids": [
            "arxiv-2606-23085"
          ],
          "date": "2026-06-22",
          "who": "Foresight",
          "note": "把 action-conditioned latent、因果 Transformer 和功能保形预测用于长时仿真、ReactorX 与 Franka 检测；作者实机指标是 ROC-AUC，不是任务成功或恢复闭环，项目页代码仍待发布。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "本体失败诊断→修复申请→原生验证器门控",
          "paper_ids": [
            "arxiv-2608-13901"
          ],
          "date": "2026-08-14",
          "who": "Ontology-Grounded World Models",
          "note": "将 typed predicates、failure route、repair request 和 native verifier 拆成审计接口；全部结果为仿真，不能替换生产 WAM/VLA/WBC，但适合冻结 fail-closed 合同。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "校准风险排序+本体硬盾+safe-stop/recover/replan/escalate 回退梯",
          "paper_ids": [
            "arxiv-2608-17496"
          ],
          "date": "2026-08-18",
          "who": "Calibrated Predictive Safety",
          "note": "把候选动作风险排序与不可覆盖的本体硬约束、回退梯分离；LIBERO-Long 600 回合仿真显示风险校准增量，但没有真实人形/足式证据，不能当作已认证安全层。",
          "evidence": "canonical_paper_and_primary_review"
        },
        {
          "step": "正交技能子空间与 MoE 解码的持续学习回归",
          "paper_ids": [
            "arxiv-2608-19589"
          ],
          "date": "2026-08-20",
          "who": "OrthoSkillVLA",
          "note": "用正交子空间保护 VLM/ActionHead 并以技能专家平衡保持与塑性；LIBERO 与 xArm 作者结果可查，但只有单一机械臂本体，不能外推人形持续学习或自动合并。",
          "evidence": "canonical_paper_and_primary_review"
        }
      ],
      "gap": "五条链覆盖旁路 OOD、长时故障检测、验证器门控、风险回退梯和持续学习；真机人工验收、恢复成功率、跨本体回归、端侧时延与过程数据回流仍未闭合。",
      "required_evidence": [
        "规范 paper/project ID",
        "一手继承/替换/采用证据",
        "代码/权重/数据/许可证边界",
        "同协议实验或独立复现（如声称工程化）"
      ]
    }
  ],
  "coverage_note": "10 个统一语义层均显式列出；gap_queue 不等于零研究，而是禁止把未核验谱系显示成已建立链条。"
}