idea-discovery-robot — ИИ-агент для автоматизированного поиска идей в робототехнике

--- name: idea-discovery-robot description: "Workflow 1 adaptation for robotics and embodied AI. Orchestrates robotics-aware literature survey, idea generation, novelty check, and critical review to go from a broad robotics direction to benchmark-grounded, simulation-first ideas. Use when user says "robotics idea discovery", "机器人找idea", "embodied AI idea", "机器人方向探索", "sim2real 选题", or wants ideas for manipulation, locomotion, navigation, drones, humanoids, or general robot learning." argument-hint: [robotics-direction] allowed-tools: Bash(*), Read, Write, Edit, Grep, Glob, WebSearch, WebFetch, Agent, Skill, mcp__codex__codex, mcp__codex__codex-reply --- # Robotics Idea Discovery Pipeline Orchestrate a robotics-specific idea discovery workflow for: **$ARGUMENTS** ## Overview This skill chains four sub-skills into a single automated pipeline: ``` /research-lit → /idea-creator (robotics framing) → /novelty-check → /research-review (survey) (filter + pilot plan) (verify novel) (critical feedback) ``` But every phase must be grounded in robotics-specific constraints: - **Embodiment**: arm, mobile manipulator, drone, humanoid, quadruped, autonomous car, etc. - **Task family**: grasping, insertion, locomotion, navigation, manipulation, rearrangement, multi-step planning - **Observation + action interface**: RGB/RGB-D/tactile/language; torque/velocity/waypoints/end-effector actions - **Simulator / benchmark availability**: simulation-first by default - **Real robot constraints**: hardware availability, reset cost, safety, operator time - **Evaluation quality**: success rate plus failure cases, safety violations, intervention count, latency, sample efficiency - **Sim2real story**: whether the idea can stay in sim, needs offline logs, or truly requires hardware The goal is not to produce flashy demos. The goal is to produce ideas that are: - benchmarkable - falsifiable - feasible with available robotics infrastructure - interesting even if the answer is negative ## Constants - **MAX_PILOT_IDEAS = 3** — Validate at most 3 top ideas deeply - **PILOT_MODE = `sim-first`** — Prefer simulation or offline-log pilots before any hardware execution - **REAL_ROBOT_PILOTS = `explicit approval only`** — Never assume physical robot access or approval - **AUTO_PROCEED = true** — If user does not respond at checkpoints, proceed with the best sim-first option - **REVIEWER_MODEL = `gpt-5.4`** — External reviewer model via Codex MCP - **TARGET_VENUES = CoRL, RSS, ICRA, IROS, RA-L** — Default novelty and reviewer framing > Override inline, e.g. `/idea-discovery-robot "bimanual manipulation" — only sim ideas, no real robot` or `/idea-discovery-robot "drone navigation" — focus on CoRL/RSS, 2 pilot ideas max` ## Execution Rule Follow the phases in order. Do **not** stop after a checkpoint unless: - the user explicitly says to stop, or - the user asks to change scope and re-run an earlier phase If `AUTO_PROCEED=true` and the user does not respond, continue immediately to the next phase using the strongest **sim-first, benchmark-grounded** option. ## Phase 0: Frame the Robotics Problem Before generating ideas, extract or infer this **Robotics Problem Frame** from `$ARGUMENTS` and local project context: - **Embodiment** - **Task family** - **Environment type**: tabletop, warehouse, home, outdoor, aerial, driving, legged terrain - **Observation modalities** - **Action interface / controller abstraction** - **Learning regime**: RL, imitation, behavior cloning, world model, planning, VLA/VLM, classical robotics, hybrid - **Available assets**: simulator, benchmark suite, teleop data, offline logs, existing codebase, real hardware - **Compute budget** - **Safety constraints** - **Desired contribution type**: method, benchmark, diagnosis, systems, sim2real, data curation If some fields are missing, make explicit assumptions and default to: - **simulation-first** - **public benchmark preferred** - **no real robot execution** Write this frame into working notes before moving on. Every later decision should reference it. ## Phase 1: Robotics Literature Survey Invoke: ``` /research-lit "$ARGUMENTS — focus venues: CoRL, RSS, ICRA, IROS, RA-L, TRO, Science Robotics" ``` Then reorganize the findings using a robotics lens instead of a generic ML lens. ### Build a Robotics Landscape Matrix For each relevant paper, classify: | Axis | Examples | |------|----------| | Embodiment | single-arm, mobile manipulator, humanoid, drone, quadruped | | Task | pick-place, insertion, navigation, locomotion, long-horizon rearrangement | | Learning setup | RL, BC, IL, offline RL, world model, planning, diffusion policy | | Observation | RGB, RGB-D, proprioception, tactile, language | | Action abstraction | torque, joint velocity, end-effector delta pose, waypoint planner | | Eval regime | pure sim, sim+real, real-only, offline benchmark | | Benchmark | ManiSkill, RLBench, Isaac Lab, Habitat, Meta-World, CALVIN, LIBERO, custom | | Metrics | success rate, collision rate, intervention count, path length, latency, energy | | Main bottleneck | sample inefficiency, brittleness, reset cost, perception drift, sim2real gap | ### Search Priorities When refining the survey, prioritize: - recent work from **CoRL, RSS, ICRA, IROS, RA-L** - recent arXiv papers from the last 6-12 months - benchmark papers and follow-up reproductions - negative-result or diagnosis papers if they reveal system bottlenecks ### What to Look For Do not stop at "who got the best success rate." Explicitly identify: - recurring failure modes papers do not fix - benchmarks that are saturated or misleading - places where embodiment changes invalidate prior conclusions - methods that only work with privileged observations - ideas whose reported gains come from reset engineering, reward shaping, or hidden infrastructure - task families where evaluation quality is weak even if performance numbers look high **Checkpoint:** Present the landscape to the user in robotics terms: ``` 🤖 Robotics survey complete. I grouped the field by embodiment, benchmark, action interface, and sim2real setup. Main gaps: 1. [...] 2. [...] 3. [...] Should I generate ideas under this framing, or should I narrow to a specific robot / benchmark / modality? ``` - **User approves** (or no response + AUTO_PROCEED=true) → proceed to Phase 2 with the best robotics frame. - **User requests changes** (e.g. narrower embodiment, different benchmark family, no sim2real, no hardware) → refine the robotics frame, re-run Phase 1, and present again. ## Phase 2: Robotics-Specific Idea Generation and Filtering Generate ideas only after the robotics frame is explicit. Invoke the existing idea generator, but pass the **Robotics Problem Frame** and landscape matrix into the prompt so it does not produce generic ML ideas: ``` /idea-creator "$ARGUMENTS — robotics frame: [paste Robotics Problem Frame] — focus venues: CoRL, RSS, ICRA, IROS, RA-L — benchmark-specific ideas only — sim-first pilots — no real-robot execution without explicit approval — require failure metrics and baseline clarity" ``` Then rewrite and filter the output using the robotics-specific rules below. Each candidate idea must include: - **One-sentence summary** - **Target embodiment** - **Target benchmark / simulator / dataset** - **Core bottleneck being addressed** - **Minimum sim-first pilot** - **Mandatory metrics** - **Expected failure mode if the idea does not work** - **Whether the idea truly needs real hardware** ### Good Robotics Idea Patterns Prefer ideas that: - expose a real bottleneck in perception-action coupling - improve robustness under embodiment or environment shift - reduce operator time, reset cost, or demonstration cost - strengthen sim2real transfer with measurable mechanisms - improve recovery, retry behavior, or failure detection - create a better benchmark, diagnostic, or evaluation protocol - test an assumption the community repeats but rarely measures ### Weak Robotics Idea Patterns Downrank ideas that are mostly: - "apply a foundation model / VLM / diffusion model to robot X" with no new bottleneck analysis - demo-driven but not benchmarkable - dependent on inaccessible hardware, custom sensors, or massive private datasets - impossible to evaluate without a months-long infrastructure build - only interesting if everything works perfectly ### Filtering Rules For each idea, reject or heavily downrank if: - no concrete simulator or benchmark is available - no credible baseline exists - no measurable metric beyond "looks better" - real robot execution is required but hardware access is unclear - the setup depends on privileged observations that make the claim weak - the expected contribution disappears if evaluation is made fair **Checkpoint:** Present the ranked robotics ideas before novelty checking: ``` 💡 Robotics ideas generated. Top candidates: 1. [Idea 1] — Embodiment: [...] — Benchmark: [...] — Pilot: sim/offline — Risk: LOW/MEDIUM/HIGH 2. [Idea 2] — Embodiment: [...] — Benchmark: [...] — Pilot: sim/offline — Risk: LOW/MEDIUM/HIGH 3. [Idea 3] — requires hardware / weak benchmark / high risk Should I carry the top sim-first ideas into novelty checking and external review? (If no response, I'll continue with the strongest benchmark-grounded ideas.) ``` - **User picks ideas** (or no response + AUTO_PROCEED=true) → proceed to Phase 3 with the top sim-first ideas, then continue to Phase 4 and Phase 5. - **User wants different constraints** → update the robotics frame and re-run Phase 2. - **User wants narrower scope** → go back to Phase 1 with a tighter embodiment / task / benchmark focus. ## Phase 3: Feasibility and Pilot Design For the top ideas, design a **minimal validation package**. If the repository already contains a usable simulator, benchmark harness, or offline dataset pipeline, you may validate the top 1-3 ideas there. If not, do **not** force execution. Produce a concrete pilot plan instead. By default, pilots should be one of: - **simulation pilot** - **offline log / dataset pilot** - **analysis-only pilot** using existing benchmark outputs Only propose a real-robot pilot if the user explicitly wants that. For each surviving idea, specify: ```markdown - Embodiment: - Benchmark / simulator: - Baselines: - Pilot type: sim / offline / real - Compute estimate: - Human/operator time: - Success metrics: - Failure metrics: - Safety concerns: - What result would count as positive signal: - What negative result would still be publishable: ``` ### Real Robot Rule **Never auto-proceed to physical robot testing.** If an idea needs hardware: - mark it as `needs physical validation` - design the sim or offline precursor first - ask for explicit user confirmation before any real-robot step If no cheap sim/offline pilot exists, keep the idea in the report but label it **high execution risk**. After Phase 3, continue to Phase 4 even if you only produced a pilot plan rather than running a pilot. Lack of immediate execution is not a reason to stop the workflow. ## Phase 4: Deep Novelty Verification For each top idea, run: ``` /novelty-check "[idea description with embodiment + task family + benchmark + sensor stack + controller/policy class + sim2real angle + target venues: CoRL/RSS/ICRA/IROS/RA-L]" ``` Robotics novelty checks must include: - embodiment - task family - benchmark / simulator - sensor stack - controller / policy type - sim2real or safety angle if relevant Be especially skeptical of ideas that are just: - old method + new benchmark - VLA/VLM + standard manipulation benchmark - sim2real claim without new transfer mechanism If the method is not novel but the **finding** or **evaluation protocol** is, say that explicitly. ## Phase 5: External Robotics Review Invoke: ``` /research-review "[top idea with robotics framing, embodiment, benchmark, baselines, pilot plan, evaluation metrics, and sim2real/hardware risks — review as CoRL/RSS/ICRA reviewer]" ``` Frame the reviewer as a senior **CoRL / RSS / ICRA** reviewer. Ask them to focus on: - whether the contribution is really new for robotics, not just ML - the minimum benchmark package needed for credibility - whether the sim2real story is justified - missing baselines or failure analyses - whether the idea survives realistic infrastructure constraints Update the report with the reviewer's minimum viable evidence package. ## Phase 6: Final Report Write or update `IDEA_REPORT.md` with a robotics-specific structure so it stays compatible with downstream workflows. ```markdown # Robotics Idea Discovery Report **Direction**: $ARGUMENTS **Date**: [today] **Pipeline**: research-lit → idea-creator (robotics framing) → novelty-check → research-review ## Robotics Problem Frame - Embodiment: - Task family: - Observation / action interface: - Available assets: - Constraints: ## Landscape Matrix [grouped by embodiment, benchmark, and bottleneck] ## Ranked Ideas ### Idea 1: [title] — RECOMMENDED - Embodiment: - Benchmark / simulator: - Bottleneck addressed: - Pilot type: sim / offline / real - Positive signal: - Novelty: - Reviewer score: - Hardware risk: - Next step: ## Eliminated Ideas - [idea] — killed because benchmark unclear / hardware inaccessible / novelty weak / no fair evaluation ## Evidence Package for the Top Idea - Required baselines: - Required metrics: - Required failure cases: - Whether real robot evidence is mandatory: ## Next Steps - [ ] Implement sim-first pilot - [ ] Run /novelty-check on the final idea wording - [ ] Only after approval: consider hardware validation ``` ## Key Rules - **Simulation first.** Hardware is never the default. - **Benchmark specificity is mandatory.** No benchmark, no serious idea. - **Evaluation must include failures.** Success rate alone is not enough. - **Embodiment matters.** Do not assume a result on one robot transfers to another. - **Avoid foundation-model theater.** Novel terminology is not novelty. - **Infrastructure realism matters.** Operator time, reset burden, and safety count as research constraints. - **If the contribution is mainly diagnostic or evaluative, say so.** That can still be publishable. ## Composing with Later Work After this workflow identifies a strong robotics idea: ``` /idea-discovery-robot "direction" ← you are here implement sim-first pilot /run-experiment ← if infrastructure exists /auto-review-loop "top robotics idea" ``` If no simulator or benchmark is available yet, stop at the report and ask the user to choose whether to build infrastructure or pivot to a more executable idea.