World Model Evaluation

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Reference-Free Assessment of Physical Consistency in World Model-based Video Generation
Jun 21, 2026Yun Oh, Sukmin YunPhysical Consistency in Video Generation Synthetic Data Generation for Robotics
Hanyang University ERICA
Current World Models Lack a Persistent State Core
Jun 18, 2026Jinpeng Lu, Dexu Zhu, Haoyuan Shi +8Physical Consistency in Video Generation World Models
University of Science and Technology of China · Beijing Innovation Center of Humanoid Robotics (X-Humanoid) · NLPR, Institute of Automation, Chinese Academy of Sciences +3
SurgVista: Long-Horizon Surgical World Modeling with Plausible Instrument-Tissue Dynamics
Jun 18, 2026Wentao Pan, Wuyang Li, Shengyuan Liu +3World Models Video Prediction
The Chinese University of Hong Kong · EPFL · Imperial College London
SC3-Eval: Evaluating Robot Foundation Models via Self-Consistent Video Generation
Jun 17, 2026Wei-Cheng Tseng, Gashon Hussein, Yuzhu Dong +9Action-Conditioned Video Generation Physical Consistency in Video Generation
University of Toronto · Vector Institute · NVIDIA +3
ARB4WM: An Adversarial Robustness Benchmark for World Models in Continuous Control
Jun 15, 2026Junjian Zhang, Hao Tan, Ruonan Li +3World Models for Robotics Adversarial Robustness
College of Computer Science, National University of Defense Technology, Changsha, 410073, China · National Key Laboratory of Advanced Communication Networks, Shijiazhuang, 050081, Hebei, China · College of Computer Science and Technology, Harbin Institute of Technology, Shenzhen, 518055, China +1
Mind-Studio: Executable World Models with Lookahead Evaluation for Partially Observable Games
Jun 14, 2026Yifei Dong, Mingen Zheng, Linquan Wu +2World Model Learning LLM-Based Program Synthesis
Hong Kong University of Science and Technology · City University of Hong Kong · University of Edinburgh +1
How Should World Models Be Evaluated for Embodied Decision-Making? A Decision-Making-Centric Position
Jun 13, 2026Yang Yu, Shiyuan Zhang, Yifei Sheng +2Model-Based Planning World Model Evaluation
National Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China · School of Artificial Intelligence, Nanjing University, Nanjing, China · Cirquar Technologies, Nanjing, China
ReactSim-Bench: Benchmarking Reactive Behavior World Model Simulation in Autonomous Driving
Jun 12, 2026Zhiyuan Zhang, Yanlun Peng, Jianing Zhang +7Autonomous Driving Benchmarks World Models for Autonomous Driving
Sch. of Computer Science & Sch. of Artificial Intelligence, Shanghai Jiao Tong University · Great Wall Motor · Institute of Trustworthy Embodied AI (TEAI), Fudan University +2
WEAVER, Better, Faster, Longer: An Effective World Model for Robotic Manipulation
Jun 11, 2026Arnav Kumar Jain, Yilin Wu, Jesse Farebrother +2World Model Learning Long-Horizon Robotic Manipulation
Mila - Québec AI Institute · Université de Montréal · Carnegie Mellon University +1
Certified World Models: Predictability Across Configuration, Horizon, and Resolution
Jun 11, 2026Hongbo WangEquivariant Neural Networks Latent World Models
Department of Mathematics, Stony Brook University, Stony Brook, NY 11794, USA
WorldOlympiad: Can Your World Model Survive a Triathlon?
Jun 9, 2026Yuke Zhao, Wangbo Zhao, Weijie Wang +8Physical Consistency in Video Generation Long-Horizon Video Generation
Zhejiang University · The Hong Kong University of Science and Technology · DAMO Academy, Alibaba Group +2
Echo-Memory: A Controlled Study of Memory in Action World Models
Jun 8, 2026Wayne King, Zeyue Xue, Yuxuan Bian +13Action-Conditioned Video Generation Video Diffusion Models
The University of Hong Kong · Joy Future Academy, JD · The Chinese University of Hong Kong +5
Bridging the Agent-World Gap: Text World Models for LLM-based Agents
Jun 8, 2026Yixia Li, Hongru Wang, Peng Lai +13LLM World Models World Models
Southern University of Science and Technology · University of Edinburgh · Peking University +5
ATM: Why Latent World Models Can Fail to Plan
Jun 8, 2026Jiaheng Chen, Tinghe Zhang, Yucheng Xiao +5World Model-Based Planning Model-Based Planning
School of Software, Northeastern University
DisCo: World Models with Discrete Camera Motion Control
Jun 6, 2026Hongrui Huang, Junke Wang, Quanhao Li +2Action-Conditioned Video Generation Camera-Controlled Video Generation
1Fudan University
PiL-World: A Chunk-Wise World Model for VLA Policy-in-the-Loop Evaluation
Jun 4, 2026Chong Ma, Taiyi Su, Jian Zhu +4Action-Conditioned World Models Robotic Policy Evaluation
1Tongji University · 2AIRC, Midea Group
Generalization of World Models under Environmental Variability for Vision-based Quadrotor Navigation
Jun 3, 2026Luca Zanatta, Grzegorz Malczyk, Kostas AlexisWorld Models for Robotics World Models
Norwegian University of Science and Technology
OSCAR: Omni-Embodiment Action-Conditioned World Model for Robotics
Jun 3, 2026Zhuoyuan Wu, Jun GaoAction-Conditioned Video Generation Action-Conditioned World Models
Peking University · University of Michigan · NVIDIA
RoboTrustBench: Benchmarking the Trustworthiness of Video World Models for Robotic Manipulation
Jun 1, 2026Huiqiong Li, Jiayu Wang, Zhiting Mei +3World Models AI Safety Evaluation
Singapore Management University · Fudan University · Princeton University
Towards Interactive Video World Modeling: Frontiers, Challenges, Benchmarks, and Future Trends
May 31, 2026Jiuming Liu, Chaojun Ni, Mengmeng Liu +7Action-Conditioned Video Generation Long-Horizon Video Generation
Department of Engineering, University of Cambridge, U.K. · Peking University, China · University of Twente, Netherlands +4
MBench: A Comprehensive Benchmark on Memory Capability for Video World Models
May 30, 2026Shengjun Zhang, Zhang Zhang, Simin Huang +11Long-Horizon Video Generation World Model Evaluation
1Tsinghua University · 2WeChat Vision, Tecent Inc. · 3Peking University
World Models: A Comprehensive Survey of Architectures, Methodologies, Reasoning Paradigms, and Applications
May 28, 2026Arif Hassan Zidan, Yi Pan, Hanqi Jiang +23World Model Learning World Model-Based Planning
School of Computer and Cyber Sciences, Augusta University, Augusta, GA, USA · School of Computing, University of Georgia, Athens, GA, USA · Tandon School of Engineering, New York University, Brooklyn, NY, USA +9
Physically Viable World Models: A Case for Query-Conditioned Embodied AI
May 28, 2026Adam J. Thorpe, Stepan Tretiakov, Cheng-Hsi Hsiao +6World Models for Robotics Causal World Models
The University of Texas at Austin
Chess-World-Model: A 10M-Game Benchmark for Exact State Tracking from Chess Move Sequences
May 28, 2026Benjamin Walker, Terry LyonsRecurrent Neural Networks State Tracking
Mathematical Institute, University of Oxford · Department of Mathematics, Imperial College London
MiraBench: Evaluating Action-Conditioned Reliability in Robotic World Models
May 28, 2026Tianzhuo Yang, Zihan Shen, Zirui Mi +7World Models for Robotics Action-Conditioned World Models
Institute for Artiﬁcial Intelligence, Peking University · 2Physis Lab
World Models for Robotic Manipulation: A Survey
May 27, 2026Fangyuan Wang, Ziyuan Wang, Guorui Pei +15World Model Learning World Models for Robotics
Department of Mechanical Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, China · Department of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China · School of Advanced Engineering, Great Bay University, Dongguan, Guangdong, China +9
What-If World: A Causal Benchmark for General World Models in Embodied Scenarios
May 26, 2026Kunlin Cai, Rui Song, Jinghuai Zhang +7Physical Consistency in Video Generation Causal World Models
1UCLA · University of Tennessee · 3Amazon
WBench: A Comprehensive Multi-turn Benchmark for Interactive Video World Model Evaluation
May 25, 2026Kaining Ying, Hengrui Hu, Siyu Ren +6World Model Evaluation Interactive World Models
Fudan University · Meituan Longcat Team
World Models as Group Actions
May 23, 2026Zijie Wang, Wei Zhang, Weiming Zhang +4World Model Learning Action-Conditioned World Models
Sun Yat-sen University · Shenzhen Loop Area Institute · Baidu Inc. +2
WMAttack: Automated Attack Search for Adversarial Evaluation of World-Model Agents
May 22, 2026Zhixiang Guo, Siyuan Liang, Shi Fu +4Adversarial Attacks Adversarial Robustness
Nanyang Technological University · University of Szeged

Jun 21, 2026, cs.AIJ/K move · Enter open · S save

Reference-Free Assessment of Physical Consistency in World Model-based Video Generation

Yun Oh, Sukmin Yun

Hanyang University ERICA

Physical Consistency in Video Generation Synthetic Data Generation for Robotics Video Quality Assessment World Model Evaluation Video Generation Evaluation

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We introduce reference-free measures for evaluating the physical consistency of generated videos, combining relative and absolute approaches to assess fidelity. Although tools like WorldGym or WorldEval enable robotic simulation via video generation, physical fidelity gaps often prevent these environments from accurately reproducing real-world task success rates of VLA models. Unlike existing evaluation methods, which require costly human voting (Elo) or unavailable ground-truth references (FVD), our approach utilizes DROID-SLAM and SEA-RAFT to quantify physical inconsistencies, motivated by WorldScore. Videos filtered using our relative consistency assessment show an improvement in task success rates of over 8%, effectively narrowing the simulation-to-reality gap. Furthermore, our absolute assessment enables spatio-temporal localization, providing visualization of when and where physical artifacts occur.

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