World Model Evaluation

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29 papers in the last four weeks, up 123% on the four weeks before. 0.3% of all new papers.

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RoboGaze: Evaluating Robot World Models via Structured Vision-Language Analysis
Jun 22, 2026Minh-Loi Nguyen, Nghiem Tuong Diep, Hung Khang Nguyen +10VLM Evaluation Robot Manipulation Benchmarks
Center for AI Research, VinUniversity · 2VinRobotics · 3DFKI +3
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

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RoboGaze: Evaluating Robot World Models via Structured Vision-Language Analysis

Minh-Loi Nguyen, Nghiem Tuong Diep, Hung Khang Nguyen, Minh Le+9

Center for AI Research, VinUniversity · 2VinRobotics · 3DFKI+3

VLM Evaluation Robot Manipulation Benchmarks World Model Evaluation Temporal Consistency in Video Generation

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Recent advances in robot world models enable synthetic video generation for embodied prediction and planning. However, evaluating these videos is challenging: visually realistic outputs often violate physical laws, temporal consistency, or task logic, while conventional metrics and monolithic Vision-Language Model (VLM) judges fail to generalize or provide precise diagnostic value. We present RoboGaze, a training-free, multi-agent VLM framework that provides structured, interpretable evaluation for generated robot-manipulation videos. Given a task instruction and video, RoboGaze operates via a three-stage pipeline: task-scene grounding, dimension-specific specialist routing, and critic-based verification. It outputs temporally localized glitch reports categorized under a novel 6-dimension, 30-type robotics-specific taxonomy. To benchmark RoboGaze, we introduce a human-validated dataset of 382 clips spanning simulated and real-world multi-view manipulation. Evaluating eight open-source and proprietary VLM backbones, RoboGaze dramatically outperforms zero-shot baselines, improving description-F1 by up to +43 points and temporal alignment (F1 x IoU) by up to +37 points, closing approximately 85% of the gap to the human ceiling. Furthermore, its critic verifier mitigates the "cry-wolf" false-positive flaw of standard VLMs, lifting clean-clip accuracy from under 25% to over 80%. RoboGaze offers a scalable, highly interpretable diagnostic tool for the rigorous evaluation of robot world models.

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Latest papers 148