Embodied World Models

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20 papers in the last four weeks, up 186% on the four weeks before. 0.2% of all new papers.

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  1. World Tokens: Enhancing Embodied Policies with Training-Time World Modeling

    Aug 10, 2026Qu Tang, Benhui Zhuang, Bo Yuan +3Efficient VLA Model InferenceEfficient VLA Models

    JIUTIAN Research · Zhongguancun Academy

  2. JEPA-WAM: Learning Vision-Language-Action Policies with Joint-Embedding World Modeling

    Aug 10, 2026Yihan Lin, Jiawei He, Shifeng Bao +6Joint-Embedding Predictive ArchitectureRobotic Manipulation

    School of Information, Renmin University of China, Beijing, China · XYZ Embodied AI, Beijing, China · Key Laboratory of Data Engineering and Knowledge Engineering, Beijing, China +3

  3. Decoupling Intention from Trajectory: A Representational Deduction Framework for World Action Models

    Aug 7, 2026Xiangkai Ma, Yue Ma, Junjie Wang +6Robot Motion GenerationRobotic Manipulation

    1NJU · 2HKUST · 3CUHK-SZ +4

  4. PhysMind: From Video to Executable Worlds for Training-Free Physical Reasoning

    Aug 5, 2026Chen Yang, Shenxiang Zeng, Haoyang Zhao +6Counterfactual ReasoningPhysical Reasoning in Video

    1Tsinghua University · 2The University of Hong Kong

  5. EmbodiedVAE: Disentangled Video VAE for Efficient and Controllable Embodied Manipulation

    Aug 4, 2026Jiayi Luo, Hanxin Zhu, Chen Gao +5Variational AutoencodersDisentangled Representation Learning

    Beihang University · Zhongguancun Academy · University of Science and Technology of China +3

  6. SC2^{2}-WM: A Self-Correcting World Model with Closed-Loop Feedback for Vision-and-Language Navigation in Continuous Environments

    Aug 1, 2026Xuan Yao, Yuze Zhu, Junyu Gao +2Test-Time AdaptationWorld Model Learning

    State Key Laboratory of Multimodal Artificial Intelligence Systems (MAIS), Institute of Automation, Chinese Academy of Sciences (CASIA) · School of Artificial Intelligence, University of Chinese Academy of Sciences (UCAS) · HiThink Research, China +1

  7. EgoGenesis: Egocentric World-Action Modeling with Online Anchored Projective Memory and Action-3D RoPE

    Jul 30, 2026Zexuan Yan, Yuzhou Wu, Yue Ma +9Action-Conditioned Video GenerationMemory-Augmented Video Generation

    1Shanghai Jiao Tong University · 2Alibaba Group · 3Tianji KernalMind Co., Ltd. +4

  8. Security of World-Model-Based Embodied AI: A Lifecycle of Threats, Defenses, and Evaluation

    Jul 30, 2026Fazhong Liu, Zhuoyan Chen, Haozhen Tan +3AI Agent SecurityWorld Model Evaluation

  9. Enfold: Folding World Model Imagination into Predictive Representations for Ultra-Efficient Embodied Control

    Jul 29, 2026Weili Zeng, Yitong Xing, Fulong Liu +10World ModelsEfficient VLA Model Inference

    Shanghai Jiao Tong University · Qilu University of Technology (Shandong Academy of Sciences)

  10. CG-World: A Large-Scale World-State Dataset and Protocol for World Models

    Jul 29, 2026Yiming Cai, Fangjie Yu, Meiqing Yu +3World Model LearningWorld Models

    CGyear World Model Lab · Tsinghua University · University of New South Wales

  11. WorldDiT: A Unified Diffusion Architecture for World and Action Modeling

    Jul 27, 2026Sen Wang, R. Gnana Praveen, Bidhan Roy +1Diffusion TransformerDiffusion Policy

    Bagel Labs (bagel.com)

  12. Embodied GPT-5.1: Evidence of a World Model?

    Jul 27, 2026Roberto Spinelli, Thiago C. MartinsLLM GroundingMobile Robotics

    Grad. Studies in Mechanical Eng. · Department of Mechatronics

  13. Real-Time Human-Centric World Modeling for Upper-Body Human-Object Interaction

    Jul 26, 2026Chaonan Ji, Jinwei Qi, Peng Zhang +1HOI GenerationHuman Motion Generation

    Tongyi Lab, Beijing, China

  14. Towards Dual-Brain Minimal Sufficient Representation for Vision-Language Navigation

    Jul 25, 2026Yihao Wu, Chenyi Xu, Liqi Yan +6Representation LearningInformation Bottleneck

    1Hangzhou Dianzi University · University of Zurich · University of Exeter

  15. Robot-Factored World Models via Robot Rendering

    Jul 24, 2026Byungjun Kim, Taeksoo Kim, Hyunsoo Cha +1Action-Conditioned World ModelsCross-Embodiment Robot Learning

    Seoul National University · RLWRLD

  16. TRW: TRACE-RealWorld---An Auditable Consistency Contract for World Models as Materialized Views

    Jul 24, 2026Edward Y. ChangWorld ModelsWorld Model-Based Planning

    Stanford University

  17. KineBench: Benchmarking Embodied World Models via IDM-Free Kinematic Grounding

    Jul 22, 2026Zeyu Liu, Zhangzhe Zhu, Yang Zhang +3Physical Consistency in Video GenerationRobot Manipulation Benchmarks

    Institute of Artificial Intelligence (TeleAI), China Telecom, China · National University of Singapore, Singapore · Fudan University, China +2

  18. Masked Visual Actions for Unified World Modeling

    Jul 21, 2026Hadi Alzayer, Wenlong Huang, Haonan Chen +8Action-Conditioned Video GenerationRobotic Manipulation

    Stanford University · University of Maryland, College Park · Harvard University

  19. RoboInter1.5: A Holistic Intermediate Representation Suite for Embodied World Modeling and Robotic Manipulation

    Jul 21, 2026Ziqin Wang, Hao Li, Weijun Wang +5RoboticsRobotic Manipulation

  20. RxBrain: Embodied Cognition Foundation Model with Joint Language-Visual Reasoning and Imagination

    Jul 15, 2026Haotian Liang, Mingkang Chen, Yufei Huang +27Unified Multimodal ModelsRobot Foundation Models

    Tencent Robotics X Team · Futian Laboratory · Tencent Hy Team

  21. Grounded world models in biological organisms and future embodied AI

    Jul 15, 2026Giovanni Pezzulo, Davide Nuzzi, Marco D'Alessandro +3Cognitive ModelingEmbodied AI

    Institute of Cognitive Sciences and Technologies, National Research Council, Rome, Italy · Center for Mind and Brain Science (CIMeC), University of Trento, Italy · Department of Neuroscience, University of Montreal, Montreal, Quebec, Canada

  22. Xiaomi-Robotics-U0: Unified Embodied Synthesis with World Foundation Model

    Jul 13, 2026Xinghang Li, Jun Guo, Qiwei Li +21Robot Foundation ModelsCross-Embodiment Robot Learning

    Xiaomi Robotics

  23. Towards Predictive, Aligned, and Scalable Robot Learning

    Jul 13, 2026Peijun Tang, Shangjin Xie, Baifu Huang +6Latent Action LearningCross-Modal Alignment

    Astribot Team

  24. Causally Debiased Latent Action Model for Embodied Action Conditioned World Models

    Jul 10, 2026Yufan Wei, Kun Zhou, Lingjun Mao +9Latent Action LearningCausal Representation Learning

    Aether AI · University of California, San Diego

  25. Write-Protected Discrete Bottlenecks for Language-Grounded World Models: A Structural Limitation and Sufficient Fix

    Jul 9, 2026Jiayi FangLLM GroundingRepresentation Learning

    Shanghai University of Finance and Economics

  26. Grounding Spatial Relations in a Compact World Model: Instruction Leakage and a Goal-Free Dynamics Fix

    Jul 8, 2026Yufeng Wang, Lu Wei, Haibin LingWorld Model LearningVisual Grounding

    1Stony Brook University · 2Westlake University

  27. RynnWorld-4D: 4D Embodied World Models for Robotic Manipulation

    Jul 7, 2026Haoyu Zhao, Xingyue Zhao, Siteng Huang +3Language-Conditioned Robot ManipulationBimanual Robotic Manipulation

    DAMO Academy, Alibaba Group · Hong Kong Embodied AI Lab · CUHK +1

  28. Imagined Rollouts are Kinematic, Not Dynamic: A Diagnosis of Long-Horizon World-Model Failure

    Jul 7, 2026Finn Rasmus Schäfer, Korbinian Moller, Yuan Gao +3World ModelsWorld Model Evaluation

    Autonomous Vehicle Systems Lab Technical University of Munich, Garching b. München, Germany · Data Analytics and Machine Learning Group Technical University of Munich, Garching b. München, Germany

  29. VT-WAM: Visual-Tactile World Action Model for Contact-Rich Manipulation

    Jul 2, 2026Shuai Tian, Yupeng Zheng, Yuhang Zheng +7Contact-Rich Robotic ManipulationWorld Action Models

    SKL-MAIS, Institute of Automation, Chinese Academy of Sciences · School of Artificial Intelligence, University of Chinese Academy of Sciences · TARS Robotics +2

  30. Embodied.cpp: A Portable Inference Runtime of Embodied AI Models on Heterogeneous Robots

    Jul 2, 2026Ling Xu, Chuyu Han, Borui Li +6Efficient Neural Network InferenceEfficient VLA Model Inference

    Southeast University · Nanjing University · Microsoft Research +1