{
  "schema_version": "2026.08-v1",
  "generated_at": "2026-08-25",
  "view": "team-longitudinal",
  "purpose": "团队纵向视图：追踪核心作者/实验室网络连续数年的路线演进，人员迁移时路线跟随人而不是机构。",
  "note": "本表只含已机制核验的论文；团队边为首次构建，作者网络基于机构+核心作者重合，后续按一手来源扩充。",
  "teams": [
    {
      "team_id": "team:nvidia-ucla-grail",
      "team_label": "NVIDIA / UCLA (GRAIL)",
      "core_papers": [
        {
          "paper_id": "oa-w7163539690",
          "date": "2026-06-03",
          "route": "合成数据工程落地",
          "module": "3D资产+VFM先验+G1 sim-to-real"
        }
      ],
      "lineage_note": "将4D人-物重建与机器人比例/尺度先验绑定，形成从数字资产到G1闭环的合成数据路线；跨本体尚未验证。"
    },
    {
      "team_id": "team:tsinghua-decowam",
      "team_label": "清华 / 上海AI Lab / 哈工大 / DEEP Robotics (DECOWAM)",
      "core_papers": [
        {
          "paper_id": "arxiv-2608-20114",
          "date": "2026-08-20",
          "route": "足式移动操作WAM迭代",
          "module": "ARMDOG + future bottleneck + base/arm factorization"
        }
      ],
      "lineage_note": "把FastWAM的未来视频-动作接口扩展到移动基地与机械臂联合控制；与人形WAM数值不可直接混排。"
    },
    {
      "team_id": "team:egotac",
      "team_label": "EgoTac authors",
      "core_papers": [
        {
          "paper_id": "arxiv-2608-15060",
          "date": "2026-08-15",
          "route": "视觉-触觉数据基础设施",
          "module": "MANO统一拓扑 + 密集力/接触预测 + OOD评测"
        }
      ],
      "lineage_note": "把人体第一视角与多数据集接触预测接到视觉-触觉预训练前置层；没有机器人闭环证据，不外推为人形控制器。"
    },
    {
      "team_id": "team:stagewam",
      "team_label": "StageWAM authors",
      "core_papers": [
        {
          "paper_id": "arxiv-2608-10780",
          "date": "2026-08-11",
          "route": "主流WAM技术2.0／阶段级未来",
          "module": "V-JEPA2 stage latent + Motus WAM"
        }
      ],
      "lineage_note": "把阶段语义未来与短期视频-动作未来分开，形成可在RoboTwin clean/randomized与双臂真机任务进度上比较的路线。"
    },
    {
      "team_id": "team:neoteai-fudan-n0-vtla",
      "team_label": "NeoteAI / Fudan TEAI (N0-VTLA)",
      "core_papers": [
        {
          "paper_id": "arxiv-2607-23782",
          "date": "2026-07-26",
          "route": "视觉-触觉主流迭代",
          "module": "latent tactile tokens + ALTER offline advantage"
        }
      ],
      "lineage_note": "将触觉token与视觉语言动作策略、离线优势标签结合；真机9项结果分母未披露，制品开放边界需保守展示。"
    },
    {
      "team_id": "team:mars-ntu-pku-wam",
      "team_label": "MARS Lab NTU / Peking University (ω-0)",
      "core_papers": [
        {
          "paper_id": "arxiv-2608-06375",
          "date": "2026-08-06",
          "route": "人形全身 WAM 技术改进版",
          "module": "latent predictive WAM + SONIC + ω-HOME"
        }
      ],
      "lineage_note": "与 MotionWAM（HKUST-GZ/Mondo）共享 SONIC 低层控制器与 G1 本体，形成同期横向竞争/互补关系。"
    },
    {
      "team_id": "team:mondo-hkustg-wam",
      "team_label": "Mondo Robotics / HKUST-GZ (MotionWAM)",
      "core_papers": [
        {
          "paper_id": "arxiv-2606-09215",
          "date": "2026-06-08",
          "route": "人形全身 WAM 颠覆性分支",
          "module": "dual-DiT + unified motion latent + SONIC"
        }
      ],
      "lineage_note": "与 DiT4DiT 同团队共享 flow-matching 训练范式；SONIC 与 ω-0 共享。"
    },
    {
      "team_id": "team:pku-ai2-tactile",
      "team_label": "Peking University / AI2 Robotics (TACO)",
      "core_papers": [
        {
          "paper_id": "arxiv-2607-02840",
          "date": "2026-07-03",
          "route": "触觉世界模型自纠错 VLA 颠覆性分支",
          "module": "Recognize-Imagine-Label + 知识绝缘触觉适配"
        }
      ],
      "lineage_note": "继承 π0.5 与 Wan2.2 视频基础；与 ViTacWorld/TouchWorld 同期竞争触觉世界模型路线。"
    },
    {
      "team_id": "team:shanghaitech-instadapt-vt",
      "team_label": "ShanghaiTech / InstAdapt (ViTacWorld)",
      "core_papers": [
        {
          "paper_id": "arxiv-2607-22530",
          "date": "2026-07-24",
          "route": "视觉触觉世界模型主流技术2.0",
          "module": "view-aware DiT + cross-view attention"
        }
      ],
      "lineage_note": "以触觉世界模型为数据生成器；与 TouchWorld、TACO 同期竞争。"
    },
    {
      "team_id": "team:sjtu-stanford-uiuc-vtam",
      "team_label": "Shanghai Jiao Tong University / Stanford / UIUC (VTAM)",
      "core_papers": [
        {
          "paper_id": "arxiv-2603-23481",
          "date": "2026-03-24",
          "route": "视觉-触觉世界动作模型颠覆性分支",
          "module": "multi-view visual/tactile diffusion + deformation-derived virtual-force objective"
        }
      ],
      "lineage_note": "以 π₀.5 为 VLA 基线，将视觉与触觉联合预测并加入虚拟力目标；与 ViTacWorld、TACO、TouchWorld 同期竞争，但当前仍缺少公开可读制品和跨本体复现。"
    },
    {
      "team_id": "team:hit-phanes-touch",
      "team_label": "HIT Shenzhen / PHANES AI (TouchWorld)",
      "core_papers": [
        {
          "paper_id": "arxiv-2607-07287",
          "date": "2026-07-08",
          "route": "触觉世界模型主流技术2.0",
          "module": "分层多时间尺度触觉基础模型"
        }
      ],
      "lineage_note": "EgoTouch 人类交互视频预训练 + 30Hz 触觉细化。"
    },
    {
      "team_id": "team:huawei-dot",
      "team_label": "Huawei Noah's Ark / Celia (Faster-WAM)",
      "core_papers": [
        {
          "paper_id": "arxiv-2608-02365",
          "date": "2026-08-03",
          "route": "低时延 WAM 主流技术2.0",
          "module": "DoT / KV-Fusion / 单层 action head"
        }
      ],
      "lineage_note": "针对 Fast-WAM/MoT 的层对应约束做架构改进。"
    },
    {
      "team_id": "team:fudan-cuhksz-distill",
      "team_label": "Fudan / CUHK-SZ (Vid2WAM)",
      "core_papers": [
        {
          "paper_id": "arxiv-2608-08558",
          "date": "2026-08-09",
          "route": "WAM 主流技术2.0·可能成为新主流",
          "module": "视频先验离线蒸馏 + source-aware residual adapter"
        }
      ],
      "lineage_note": "教师+IDM 离线蒸馏，部署只留学生。"
    },
    {
      "team_id": "team:purdue-uf-tactile-loco",
      "team_label": "Purdue / U Florida (TAC-LOCO)",
      "core_papers": [
        {
          "paper_id": "arxiv-2607-10132",
          "date": "2026-07-11",
          "route": "触觉全身控制颠覆性分支",
          "module": "tactile latent + 统一 WBC RL + Go2"
        }
      ],
      "lineage_note": "足式真机触觉线首发。"
    },
    {
      "team_id": "team:google-robotics-vla",
      "team_label": "Google Robotics (RT-1 / RT-2)",
      "core_papers": [
        {
          "paper_id": "oa-w4385430679",
          "date": "2023-07-10",
          "route": "VLA 奠基",
          "module": "RT-1 Robotics Transformer"
        },
        {
          "paper_id": "oa-w4385473486",
          "date": "2023-07-28",
          "route": "VLA 奠基",
          "module": "RT-2 web knowledge transfer"
        }
      ],
      "lineage_note": "VLA 从单任务 RT-1 到互联网语义 RT-2，奠定语言条件动作生成主线。"
    },
    {
      "team_id": "team:columbia-toyota-diffusion",
      "team_label": "Columbia / Toyota (Diffusion Policy)",
      "core_papers": [
        {
          "paper_id": "oa-w4385403811",
          "date": "2023-07-10",
          "route": "主流操作技术2.0",
          "module": "Diffusion Policy action diffusion"
        }
      ],
      "lineage_note": "把扩散生成用于连续动作，成为 2024-2026 动作生成层主流的直接来源。"
    },
    {
      "team_id": "team:physical-intelligence-pi",
      "team_label": "Physical Intelligence (π₀ / π₀.5 / π0.5-DROID)",
      "core_papers": [
        {
          "paper_id": "oa-w4414079054",
          "date": "2024-10-31",
          "route": "VLA flow-matching 主流",
          "module": "π₀ flow-matching VLA"
        },
        {
          "paper_id": "arxiv-2504-16054",
          "date": "2025-04-22",
          "route": "主流迭代",
          "module": "π₀.5 open-world generalization"
        }
      ],
      "lineage_note": "π₀/π₀.5 的 VLM+动作专家与 flow-matching 成为 TACO、Vid2WAM、HAF 等 2026 工作的直接基座。"
    },
    {
      "team_id": "team:nvidia-gr00t-sonic",
      "team_label": "NVIDIA (GR00T N1 / SONIC)",
      "core_papers": [
        {
          "paper_id": "legacy-86fef336ea61",
          "date": "2025-03-18",
          "route": "人形基础模型",
          "module": "GR00T N1"
        },
        {
          "paper_id": "legacy-834a4cf02243",
          "date": "2025-11-11",
          "route": "全身控制接口",
          "module": "SONIC whole-body latent"
        }
      ],
      "lineage_note": "GR00T 提供人形通用策略，SONIC 提供全身动作 latent 低层接口，被 MotionWAM/ω-0 复用。"
    },
    {
      "team_id": "team:ucb-stanford-openvla-octo",
      "team_label": "UC Berkeley / Stanford (OpenVLA / Octo)",
      "core_papers": [
        {
          "paper_id": "oa-w4399695759",
          "date": "2024-06-13",
          "route": "开源 VLA",
          "module": "OpenVLA"
        },
        {
          "paper_id": "oa-w4402353985",
          "date": "2024-07-15",
          "route": "开源 VLA",
          "module": "Octo generalist policy"
        }
      ],
      "lineage_note": "开放权重/数据成为社区基座，ViTaR 等 2026 触觉工作直接冻结 OpenVLA-OFT 使用。"
    },
    {
      "team_id": "team:deepmimic-amp-benchmark",
      "team_label": "UBC / Berkeley (DeepMimic / AMP)",
      "core_papers": [
        {
          "paper_id": "legacy-be0d10ca59bb",
          "date": "2018-04-08",
          "route": "奠基理论",
          "module": "DeepMimic example-guided RL"
        },
        {
          "paper_id": "legacy-a49edec205c8",
          "date": "2021-04-05",
          "route": "运动先验",
          "module": "AMP adversarial motion priors"
        }
      ],
      "lineage_note": "物理角色控制与对抗运动先验奠基，贯穿后续运动风格与全身控制。"
    },
    {
      "team_id": "team:beingbeyond-ttp",
      "team_label": "BeingBeyond (TTP)",
      "core_papers": [
        {
          "paper_id": "arxiv-2607-01067",
          "date": "2026-07-02",
          "route": "人类触觉预训练迁移",
          "module": "351-taxel hand-motion prediction + dexterous policy transfer"
        }
      ],
      "lineage_note": "把人类手部运动与全手触觉联合预训练迁移到机器人灵巧操作；完整 H-Tac 语料仍未公开，不能把样本集或代码许可证扩展为完整训练闭包。"
    },
    {
      "team_id": "team:tactile-wam",
      "team_label": "Tactile-WAM authors",
      "core_papers": [
        {
          "paper_id": "arxiv-2606-26663",
          "date": "2026-06-25",
          "route": "视觉触觉WAM",
          "module": "tactile asymmetric attention + contact-change bias"
        }
      ],
      "lineage_note": "在视觉世界动作模型中把触觉作为接触变化条件输入；作者报告含真机试验，但代码、权重、同步标定与独立复现尚缺。"
    },
    {
      "team_id": "team:foresight-safety-wam",
      "team_label": "Foresight authors",
      "core_papers": [
        {
          "paper_id": "arxiv-2606-23085",
          "date": "2026-06-30",
          "route": "WAM安全监测",
          "module": "action-conditioned predictive latent + conformal alarm"
        }
      ],
      "lineage_note": "将动作条件未来表示用于失败监测而非动作策略本身；校准分布、端侧延迟和制品开放边界必须与WAM控制路线分开评估。"
    },
    {
      "team_id": "team:booster-lab",
      "team_label": "Booster Lab",
      "core_papers": [
        {
          "paper_id": "arxiv-2606-27813",
          "date": "2026-06-26",
          "route": "数据中心人形运动训练",
          "module": "数据清洗/重定向/real-to-sim/AMP/真机反馈"
        }
      ],
      "lineage_note": "将数据修复、动作重定向、标定、仿真器交叉验证和 T1/K1 反馈串成数据到部署链；专属制品未公开，不能据此宣称可复现训练闭包。"
    },
    {
      "team_id": "team:sieve-vla-selection",
      "team_label": "SIEVE authors",
      "core_papers": [
        {
          "paper_id": "arxiv-2607-06442",
          "date": "2026-07-07",
          "route": "结构感知 VLA 数据选择",
          "module": "primitive/transition clustering + medoid selection"
        }
      ],
      "lineage_note": "把数据效率从总轨迹/单状态打分推进到结构暴露与可复用 transition 选择；无冻结 episode 清单、LICENSE、权重和真机策略证据。"
    },
    {
      "team_id": "team:neural-actuator",
      "team_label": "NeuralActuator authors",
      "core_papers": [
        {
          "paper_id": "arxiv-2607-02205",
          "date": "2026-07-02",
          "route": "执行器现实塑形",
          "module": "500Hz learned actuator interface"
        },
        {
          "paper_id": "arxiv-2607-11734",
          "date": "2026-07-13",
          "route": "神经执行器与无传感器力感知",
          "module": "servo telemetry + differentiable dynamics"
        }
      ],
      "lineage_note": "从学习驱动器接口推进到伺服遥测/可微动力学/力感知；尚无复杂人形量化、长期漂移和独立复现，不能替换现有执行器或WBC。"
    },
    {
      "team_id": "team:calibrated-predictive-safety",
      "team_label": "Calibrated Predictive Safety authors",
      "core_papers": [
        {
          "paper_id": "arxiv-2608-17496",
          "date": "2026-08-18",
          "route": "校准风险与安全回退",
          "module": "action-conditioned JEPA + model-based safety shields"
        },
        {
          "paper_id": "arxiv-2608-13901",
          "date": "2026-08-14",
          "route": "失败诊断与闭环修复",
          "module": "typed predicates + native verifier gate"
        }
      ],
      "lineage_note": "把风险排序、不可覆盖本体硬盾、回退梯和验证器接口分离；目前只有仿真证据，必须保留人工真机验收边界。"
    },
    {
      "team_id": "team:harnesswam",
      "team_label": "HarnessWAM authors",
      "core_papers": [
        {
          "paper_id": "arxiv-2608-09516",
          "date": "2026-08-10",
          "route": "WAM 任务级编排与失败恢复",
          "module": "scene belief + capability projection + progress/recovery loop"
        }
      ],
      "lineage_note": "将局部 WAM 预测接入任务图、能力边界和双时间尺度恢复；当前仅作者仿真协议，未公开代码/权重/数据/环境锁，不能外推人形或真机路线。"
    },
    {
      "team_id": "team:cowam",
      "team_label": "CoWAM authors",
      "core_papers": [
        {
          "paper_id": "arxiv-2608-02578",
          "date": "2026-08-03",
          "route": "WAM 选择性干预与协调契约",
          "module": "synchronization/role/collision contracts + abstain gate"
        }
      ],
      "lineage_note": "把 WAM 候选动作的选择与生成器分离，并以契约约束替换/弃权；仅作者仿真证据，不能当作 WAM 生成器增益或真机安全认证。"
    },
    {
      "team_id": "team:ovtf-afm",
      "team_label": "OVTF/AFM authors (BYU / Beijing Academy of Science and Technology)",
      "core_papers": [{"paper_id": "arxiv-2608-00547", "date": "2026-08-01", "route": "视觉—触觉 WAM 未来接口消融", "module": "oracle future interface → action expert consumption"}],
      "lineage_note": "用成功 HDF 轨迹的 oracle 未来拆解接口收益，而非提出可部署触觉预测器；七任务仿真和无公开制品，只能进入受控复现与长期关注。"
    },
    {
      "team_id": "team:vitar",
      "team_label": "ViTaR authors",
      "core_papers": [{"paper_id": "arxiv-2608-15816", "date": "2026-08-16", "route": "冻结 VLA 的视觉—触觉残差适配", "module": "EGM preference branch + RAM bounded residual"}],
      "lineage_note": "把触觉从 VLA 输入扩展为冻结策略上的有界执行调制；RM65-B 三任务与 UniVTAC 结果为作者证据，代码/权重/训练数据未开放，不构成跨本体或生产替换证据。"
    },
    {
      "team_id": "team:hitac-wam",
      "team_label": "HiTac-WAM authors (Institute of Automation CAS / ImprintX / BAAI)",
      "core_papers": [{"paper_id": "arxiv-2608-19574", "date": "2026-08-20", "route": "分层触觉 WAM 与执行期撤退", "module": "contact→deformation→slip forecast + candidate selection"}],
      "lineage_note": "把候选动作的触觉后果分层预测并保留为执行期参考；IMETA-Y1 单臂三任务、滑移风险未校准且制品未开放，只进入受控复现，不外推人形/轮足。"
    },
    {
      "team_id": "team:faster-wam",
      "team_label": "Faster-WAM / Huawei teams",
      "core_papers": [{"paper_id": "arxiv-2608-02365", "date": "2026-08-03", "route": "WAM 动作模块轻量化与低延迟", "module": "video-DiT + KV-Fusion/RoPE + lightweight action head"}],
      "lineage_note": "把 WAM 深动作模块替换为轻量动作头并测量端到端延迟；仅 LIBERO/RoboTwin 仿真，无代码、权重、真机或完整算力披露。"
    },
    {
      "team_id": "team:vid2wam",
      "team_label": "Vid2WAM authors (Fudan / CUHK-Shenzhen / SII)",
      "core_papers": [{"paper_id": "arxiv-2608-08558", "date": "2026-08-09", "route": "视频扩散教师到 WAM 学生的离线蒸馏", "module": "14B teacher + IDM pseudo-action → 5B student"}],
      "lineage_note": "把视频未来先验和伪动作蒸馏到可部署学生；公开评测代码/benchmark checkpoint，但训练闭环、真实轨迹和权重许可未闭合，Piper 双臂不等于人形迁移。"
    },
    {
      "team_id": "team:sg-wam",
      "team_label": "SG-WAM authors (HKUST(GZ) / Ola Dimensions)",
      "core_papers": [{"paper_id": "arxiv-2608-08839", "date": "2026-08-09", "route": "文本落地与空间语义 WAM 引导", "module": "Qwen planner + semantic/depth future alignment"}],
      "lineage_note": "将语言与空间深度未来分别对齐到视频/动作专家；Cobot 双臂证据和图表结果可作受控对照，项目页 404、制品未开放，不外推人形或移动操作。"
    },
    {
      "team_id": "team:mobilewam",
      "team_label": "MobileWAM authors",
      "core_papers": [{"paper_id": "arxiv-2608-04657", "date": "2026-08-05", "route": "移动端 WAM 与未来链", "module": "6.5B video expert + Chain-of-Foresight + mobile MoE"}],
      "lineage_note": "把视频世界专家和未来链接入 RGB-only 移动操作；ARX Lift2 物理百分比缺分母、代码仅承诺开放，保留为轮臂观察项。"
    },
    {
      "team_id": "team:dreamwam",
      "team_label": "DreamWAM authors (HUST / D-Robotics / Wuhan University / Horizon Robotics)",
      "core_papers": [{"paper_id": "arxiv-2608-04996", "date": "2026-08-05", "route": "多目标未来监督与视觉鲁棒 WAM", "module": "RGB/flow/depth/DINO future targets → RGB-only student"}],
      "lineage_note": "训练期增加光流、深度和语义未来，部署保持 RGB-only；代码/权重可得但代码许可证、训练链和跨本体证据不闭合。"
    },
    {
      "team_id": "team:generativempc",
      "team_label": "GenerativeMPC authors (Skolkovo Institute of Science and Technology)",
      "core_papers": [{"paper_id": "arxiv-2604-19522", "date": "2026-04-21", "route": "VLM-RAG 约束移动 MPC", "module": "semantic retrieval → velocity/impedance parameters"}],
      "lineage_note": "把语言/检索输出限制为 MPC 与阻抗参数；真机只验证差分底盘导航，双臂操作为 Isaac Sim，异步 VLM 与无制品限制部署。"
    }
  ]
}