I'm not entirely against royalties, if they're kept to a fair level – especially if you need it to fund research, rather than companies paying for the research for their own financial interests, while collaborating on a standard.Royalties help with:
1. Paying for research of future versions
2. Pays for testing to assure compliance
3. Without licensing, there is no penalty for violating standards. Anybody can slap a "HDMI V2.1 ready" on their box if it's compliant or not. That can damage the standards image.
But it's also possible take another approach – keep the spec open, don't require royalties for the software part (thus enabling open-source drivers), and require certification to use branding (and perhaps reasonable per-hardware-device royalties).
You're not going to stop reverse-engineered ripoffs or false compliance claims anyway