WorldOracle: Benchmarking Action-Conditioned World Models against Real-World Executions
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 ...
| Authors | Haoyi Duan, Liliang Chen, Nan Wang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 13 October 2026 |
| Last updated at source | 13 October 2026 |
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