WorldOracle: Benchmarking Action-Conditioned World Models against Real-World Executions

arXiv:2610.18826 · cs.RO, cs.CV · Submitted 2026-10-13 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-10-13

Updated: 2026-10-16

Code: https://github.com/AgibotTech/WorldOracle

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Action-Conditioned World Model — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 4 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• Cosmos 3: Omnimodal World Models for Physical AI
• Scalable Behavior Cloning with Open Data, Training, and Evaluation
• V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning
• AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems
• ABot-PhysWorld: Interactive World Foundation Model for Robotic Manipulation with Physics Alignment
• Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
• Wow, wo, val! A Comprehensive Embodied World Model Evaluation Turing Test
• DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos
• Ctrl-World: A Controllable Generative World Model for Robot Manipulation
• EnerVerse-AC: Envisioning Embodied Environments with Action Condition
• DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• GE-Sim 2.0: A Roadmap Towards Comprehensive Closed-loop Video World Simulators for Robotic Manipulation
• WorldArena: A Unified Benchmark for Evaluating Perception and Functional Utility of Embodied World Models
• WorldArena 2.0: Extending Embodied World Model Benchmarking on Modality, Functionality and Platform
• DINOv3
• SC3-Eval: Evaluating Robot Foundation Models via Self-Consistent Video Generation
• Wan: Open and Advanced Large-Scale Video Generative Models
• OSCAR: Omni-Embodiment Action-Conditioned World Model for Robotics
• ORV: 4D Occupancy-centric Robot Video Generation

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