外观
论文arXiv 2610.1882615 天前
WorldOracle：以真实世界执行为参照评测动作条件世界模型
原文链接：WorldOracle: Benchmarking Action-Conditioned World Models against Real-World Executions（arXiv 2610.18826 · 发布日期：2026-10-13）
WorldOracle: Benchmarking Action-Conditioned World Models against Real-World Executions
WorldOracle以相同初始观测和低层动作序列为条件，从四个维度在真实执行套件上评测ACWM预测。
核心要点
- 问题在于判断动作条件世界模型的预测展开能否复现真实物理后果和任务状态转移。
- 方法从物理状态正确性、交互空间对齐、关键交互区域保真度和多视角动作一致性评估。
- 构建真实世界训练与评测套件，覆盖不同交互动态和具身形态，含长多段成功与失败执行。
- 在七个代表性ACWM上实验揭示不同优势与失效模式，并发布数据集、评测代码和排行榜。
验证范围与局限：验证范围为配对真实世界执行的操作评测套件，涵盖其收集的交互动态和具身形态。
英文摘要 (Abstract)
We introduce WorldOracle, a benchmark specifically designed to evaluate action-conditioned world models (ACWMs) against paired real-world executions. Given the same initial observation and low-level action sequence, WorldOracle asks whether a predicted rollout reproduces what happens in the real world, including physical consequences and task-state transitions. We evaluate models along four complementary dimensions: physical state correctness, interaction spatial alignment, key interaction area fidelity, and multi-view action coherence. To support this evaluation, we curate real-world training and evaluation suites that cover different interaction dynamics and embodiments. The evaluation suite contains long, multi-segment episodes with both successful and failed executions, enabling evaluation across varied action outcomes and behavior distributions. Experiments on seven representative ACWMs reveal distinct model strengths and failure modes. WorldOracle provides a systematic foundation for measuring and advancing action-conditioned world modeling for manipulation. We release the datasets, evaluation code, and leaderboard: https://worldoracle-benchmark.github.io/.
作者：Haoyi Duan, Liliang Chen, Nan Wang, Yang Zhang, Yuhang Lu, Xiaotong Chen, Wei-Cheng Tseng, Shenyuan Gao, Zhaoshuo Li, Jingyi Jin
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