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cs.RO2026
WorldOracle: Benchmarking Action-Conditioned World Models against Real-World Executions
Haoyi Duan, Liliang Chen, Nan Wang +13
We introduce WorldOracle, a benchmark specifically designed to evaluate action-conditioned world models (ACWMs) against paired real-world executions. Given the same initial observa…
cs.RO2026
KineBench: Benchmarking Embodied World Models via IDM-Free Kinematic Grounding
Zeyu Liu, Zhangzhe Zhu, Yang Zhang +3
Evaluating the physical consistency of embodied world models(EWMs) is a critical open challenge. While closed-loop evaluation via simulator rollouts offers a more faithful assessme…
cs.RO2025
Align-Then-stEer: Adapting the Vision-Language Action Models through Unified Latent Guidance
Yang Zhang, Chenwei Wang, Ouyang Lu +7
Vision-Language-Action (VLA) models pre-trained on large, diverse datasets show remarkable potential for general-purpose robotic manipulation. However, a primary bottleneck remains…