TriWorldBench: A Tri-View Consistency Perspective on Embodied World Models
Embodied world models predict the outcomes of robot actions to support learning and planning. For robots equipped with head and wrist cameras, this requires complementary views: the head view captures the overall task, while wrist views reveal local gripper-object interactions. However, evaluating these views independently cannot determine whether they describe the same action and object state. We introduce TRIWORLDBENCH, a benchmark for evaluating embodied world models through synchronized head, left-wrist, and right-wrist videos. It contains 500 episodes across 50 bimanual manipulation tasks and uses 19 metrics to assess tri-view consistency, task alignment, physical and 3D coherence, m...
| Authors | Xuanyi Liu, Haofeng Wang, Ruiqi Li et al. |
|---|---|
| Primary category | cs.RO |
| Published | 22 September 2026 |
| Last updated at source | 22 September 2026 |
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