RoboWM-Bench evaluates video world models by converting their manipulation video predictions into executable actions validated in simulation, showing that visual plausibility does not guarantee physical executability.
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Wow: Towards a world omniscient world model through embodied interaction
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representative citing papers
MultiWorld is a scalable framework for multi-agent multi-view video world models that improves controllability and consistency over single-agent baselines in game and robot tasks.
SiMing-Bench shows current MLLMs have weak agreement with physicians on procedural correctness in clinical videos, with intermediate step judgments remaining poor even when overall scores look acceptable.
Prisma-World is a diffusion-based multi-agent video model that uses joint full-attention, multi-agent RoPE, and relative camera geometry injection plus curriculum training to produce consistent cross-view videos from flexible agent counts.
Dream-Tac unifies visual and tactile signals in a world action model using contact-gated fusion and attention bias, reporting 31.7% average action accuracy gains on six manipulation tasks.
Proposes World-Ego Modeling with WEM using CP-MoE diffusion and a new HTEWorld benchmark, claiming SOTA on hybrid navigation-manipulation tasks.
A co-evolutionary VLM-VGM loop on 500 unlabeled images raises planner success by 30 points and simulator success by 48 percent while beating fully supervised baselines.
SCAR proposes a joint inverse-forward dynamics framework to learn transferable continuous action representations across embodiments from visual data using regularization and adversarial invariance.
HarmoWAM unifies predictive and reactive control in world action models via an adaptive gating mechanism to deliver improved zero-shot generalization and precision in robotic manipulation.
Hi-WM uses human interventions inside an action-conditioned world model with rollback and branching to generate dense corrective data, raising real-world success by 37.9 points on average across three manipulation tasks.
VAG is a synchronized dual-stream flow-matching framework that generates aligned video-action pairs for synthetic embodied data synthesis and policy pretraining.
A dual-tower 4D embodied world model called RoboStereo reduces geometric hallucinations and delivers over 97% relative improvement on manipulation tasks via test-time augmentation, imitative learning, and open exploration.
A controllable world model trained on the DROID dataset generates consistent multi-view robot trajectories for over 20 seconds and improves generalist policy success rates by 44.7% via imagined trajectory fine-tuning.
DVG-WM disentangles dynamics learning from visual synthesis via flow matching and latent degradation to deliver faster, higher-quality video predictions for robotic manipulation.
PhysisForcing applies trajectory and relational alignment losses to DiT features in video models, improving physical plausibility on R-Bench, PAI-Bench, and EZS-Bench while raising closed-loop robotic success rates from 16% to 24%.
MV-WAM reports 55.7% simulation and 77.5% real-world success rates by aligning heterogeneous visual and action manifolds through causal masking and value-guided rollback.
AGRA is an Action-Grounded Representation Alignment objective that aligns intermediate video diffusion features with semantic representations to make world action model hidden states more useful for low-level robot control, improving localization, affordance, and robustness.
WorldOlympiad is a new benchmark decomposing world-model evaluation into physical, geometry, and interaction tracks using segmentation, MLLM judges, Gaussian splatting, and action prompts on diverse scenarios.
AnchorWorld proposes a simulation framework that adds exogenous viewpoint supervision for full-body grounding and anchor-view text customization for dynamic world evolution in egocentric settings.
WorldArena 2.0 extends embodied world model benchmarks to visuotactile perception, interactive policy training, and diverse real and simulated robotic platforms under a unified protocol.
Nano World Models supplies a unified minimalist codebase and evaluation framework for studying diffusion forcing in video prediction across control, games, and robot domains.
A unified embodied foundation model uses one VLM for understanding and reasoning plus a joint video-action future generator, reporting competitive scores on VLM, world modeling, and robot benchmarks without apparent compromise.
STARRY uses unified diffusion to align spatial-temporal world predictions with action generation plus GASAM for geometry-aware attention, reaching 93.82%/93.30% success on 50 bimanual tasks in simulation and raising real-world success from 42.5% to 70.8%.
StableIDM stabilizes inverse dynamics models under manipulator truncation by combining robot-centric masking, directional spatial feature aggregation, and temporal dynamics refinement, yielding 12.1% higher strict action accuracy on AgiBot and 9.7-17.6% gains in real-robot tasks.
citing papers explorer
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RoboWM-Bench: A Benchmark for Evaluating World Models in Robotic Manipulation
RoboWM-Bench evaluates video world models by converting their manipulation video predictions into executable actions validated in simulation, showing that visual plausibility does not guarantee physical executability.
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MultiWorld: Scalable Multi-Agent Multi-View Video World Models
MultiWorld is a scalable framework for multi-agent multi-view video world models that improves controllability and consistency over single-agent baselines in game and robot tasks.
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SiMing-Bench: Evaluating Procedural Correctness from Continuous Interactions in Clinical Skill Videos
SiMing-Bench shows current MLLMs have weak agreement with physicians on procedural correctness in clinical videos, with intermediate step judgments remaining poor even when overall scores look acceptable.
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Prisma-World: Camera-Controllable Multi-Agent Video World Model
Prisma-World is a diffusion-based multi-agent video model that uses joint full-attention, multi-agent RoPE, and relative camera geometry injection plus curriculum training to produce consistent cross-view videos from flexible agent counts.
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Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation
Dream-Tac unifies visual and tactile signals in a world action model using contact-gated fusion and attention bias, reporting 31.7% average action accuracy gains on six manipulation tasks.
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World-Ego Modeling for Long-Horizon Evolution in Hybrid Embodied Tasks
Proposes World-Ego Modeling with WEM using CP-MoE diffusion and a new HTEWorld benchmark, claiming SOTA on hybrid navigation-manipulation tasks.
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RoboEvolve: Co-Evolving Planner-Simulator for Robotic Manipulation with Limited Data
A co-evolutionary VLM-VGM loop on 500 unlabeled images raises planner success by 30 points and simulator success by 48 percent while beating fully supervised baselines.
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SCAR: Self-Supervised Continuous Action Representation Learning
SCAR proposes a joint inverse-forward dynamics framework to learn transferable continuous action representations across embodiments from visual data using regularization and adversarial invariance.
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HarmoWAM: Harmonizing Generalizable and Precise Manipulation via Adaptive World Action Models
HarmoWAM unifies predictive and reactive control in world action models via an adaptive gating mechanism to deliver improved zero-shot generalization and precision in robotic manipulation.
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Hi-WM: Human-in-the-World-Model for Scalable Robot Post-Training
Hi-WM uses human interventions inside an action-conditioned world model with rollback and branching to generate dense corrective data, raising real-world success by 37.9 points on average across three manipulation tasks.
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VAG: Dual-Stream Video-Action Generation for Embodied Data Synthesis
VAG is a synchronized dual-stream flow-matching framework that generates aligned video-action pairs for synthetic embodied data synthesis and policy pretraining.
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RoboStereo: Dual-Tower 4D Embodied World Models for Unified Policy Optimization
A dual-tower 4D embodied world model called RoboStereo reduces geometric hallucinations and delivers over 97% relative improvement on manipulation tasks via test-time augmentation, imitative learning, and open exploration.
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Ctrl-World: A Controllable Generative World Model for Robot Manipulation
A controllable world model trained on the DROID dataset generates consistent multi-view robot trajectories for over 20 seconds and improves generalist policy success rates by 44.7% via imagined trajectory fine-tuning.
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DVG-WM: Disentangled Video Generation Enables Efficient Embodied World Model for Robotic Manipulation
DVG-WM disentangles dynamics learning from visual synthesis via flow matching and latent degradation to deliver faster, higher-quality video predictions for robotic manipulation.
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PhysisForcing: Physics Reinforced World Simulator for Robotic Manipulation
PhysisForcing applies trajectory and relational alignment losses to DiT features in video models, improving physical plausibility on R-Bench, PAI-Bench, and EZS-Bench while raising closed-loop robotic success rates from 16% to 24%.
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MV-WAM: Manifold-Aware World Action Model with Value Augmentation
MV-WAM reports 55.7% simulation and 77.5% real-world success rates by aligning heterogeneous visual and action manifolds through causal masking and value-guided rollback.
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Making Foresight Actionable: Repurposing Representation Alignment in World Action Models
AGRA is an Action-Grounded Representation Alignment objective that aligns intermediate video diffusion features with semantic representations to make world action model hidden states more useful for low-level robot control, improving localization, affordance, and robustness.
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WorldOlympiad: Can Your World Model Survive a Triathlon?
WorldOlympiad is a new benchmark decomposing world-model evaluation into physical, geometry, and interaction tracks using segmentation, MLLM judges, Gaussian splatting, and action prompts on diverse scenarios.
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AnchorWorld: Embodied Egocentric World Simulation with View-based Evolution Customization
AnchorWorld proposes a simulation framework that adds exogenous viewpoint supervision for full-body grounding and anchor-view text customization for dynamic world evolution in egocentric settings.
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WorldArena 2.0: Extending Embodied World Model Benchmarking on Modality, Functionality and Platform
WorldArena 2.0 extends embodied world model benchmarks to visuotactile perception, interactive policy training, and diverse real and simulated robotic platforms under a unified protocol.
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Nano World Models: A Minimalist Implementation of Future Video Prediction
Nano World Models supplies a unified minimalist codebase and evaluation framework for studying diffusion forcing in video prediction across control, games, and robot domains.
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Pelican-Unify 1.0: A Unified Embodied Intelligence Model for Understanding, Reasoning, Imagination and Action
A unified embodied foundation model uses one VLM for understanding and reasoning plus a joint video-action future generator, reporting competitive scores on VLM, world modeling, and robot benchmarks without apparent compromise.
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STARRY: Spatial-Temporal Action-Centric World Modeling for Robotic Manipulation
STARRY uses unified diffusion to align spatial-temporal world predictions with action generation plus GASAM for geometry-aware attention, reaching 93.82%/93.30% success on 50 bimanual tasks in simulation and raising real-world success from 42.5% to 70.8%.
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StableIDM: Stabilizing Inverse Dynamics Model against Manipulator Truncation via Spatio-Temporal Refinement
StableIDM stabilizes inverse dynamics models under manipulator truncation by combining robot-centric masking, directional spatial feature aggregation, and temporal dynamics refinement, yielding 12.1% higher strict action accuracy on AgiBot and 9.7-17.6% gains in real-robot tasks.
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WestWorld: A Knowledge-Encoded Scalable Trajectory World Model for Diverse Robotic Systems
WestWorld introduces a scalable trajectory world model with Sys-MoE routing via system embeddings and structural embeddings for physical knowledge, pretrained on 89 environments to improve zero-shot prediction and real-robot control.
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World Model for Robot Learning: A Comprehensive Survey
A comprehensive survey that organizes the literature on world models in robot learning, their roles in policy learning, planning, simulation, and video-based generation, with connections to navigation, driving, datasets, and benchmarks.
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Towards Interactive Video World Modeling: Frontiers, Challenges, Benchmarks, and Future Trends
This survey reviews trends, challenges, benchmarks, and future directions in action-conditioned interactive world modeling for video and 3D generation.
- OpenWorldLib: A Unified Codebase and Definition of Advanced World Models