标题： Ark：一个基于 Python 的开源机器人学习框架 显示英文标题

标题： Ark: An Open-source Python-based Framework for Robot Learning

摘要： 机器人技术在硬件方面取得了显著进展——从DARPA的城市和机器人挑战赛到首届人形机器人踢拳比赛——但商业自主性仍然落后于机器学习的进步。 主要瓶颈在于软件：当前的机器人系统需要陡峭的学习曲线、低级的C/C++专业知识、零散的工具以及复杂的硬件集成，这与推动现代人工智能发展的以Python为中心、文档完善的生态系统形成鲜明对比。 我们介绍了ARK，这是一个开源的、以Python为主的机器人框架，旨在弥补这一差距。 ARK提供了一个类似Gym的环境接口，允许用户收集数据、预处理数据，并使用最先进的模仿学习算法（例如ACT、扩散策略）训练策略，同时在高保真仿真和物理机器人之间无缝切换。 轻量级的客户端-服务器架构提供了网络化的发布-订阅通信，可选的C/C++绑定确保在需要时实现实时性能。 ARK附带了用于控制、SLAM、运动规划、系统识别和可视化的可重用模块，以及原生的ROS互操作性。 全面的文档和案例研究——从操作到移动导航——展示了快速原型设计、轻松的硬件更换以及端到端流程，这些流程在便利性上可以与主流机器学习工作流程相媲美。 通过在共同的Python框架下统一机器人技术和人工智能实践，ARK降低了入门门槛，并加速了自主机器人的研究和商业部署。 显示英文摘要

摘要： Robotics has made remarkable hardware strides-from DARPA's Urban and Robotics Challenges to the first humanoid-robot kickboxing tournament-yet commercial autonomy still lags behind progress in machine learning. A major bottleneck is software: current robot stacks demand steep learning curves, low-level C/C++ expertise, fragmented tooling, and intricate hardware integration, in stark contrast to the Python-centric, well-documented ecosystems that propelled modern AI. We introduce ARK, an open-source, Python-first robotics framework designed to close that gap. ARK presents a Gym-style environment interface that allows users to collect data, preprocess it, and train policies using state-of-the-art imitation-learning algorithms (e.g., ACT, Diffusion Policy) while seamlessly toggling between high-fidelity simulation and physical robots. A lightweight client-server architecture provides networked publisher-subscriber communication, and optional C/C++ bindings ensure real-time performance when needed. ARK ships with reusable modules for control, SLAM, motion planning, system identification, and visualization, along with native ROS interoperability. Comprehensive documentation and case studies-from manipulation to mobile navigation-demonstrate rapid prototyping, effortless hardware swapping, and end-to-end pipelines that rival the convenience of mainstream machine-learning workflows. By unifying robotics and AI practices under a common Python umbrella, ARK lowers entry barriers and accelerates research and commercial deployment of autonomous robots.