The paper introduces RoboJudge, a multimodal language model trained to evaluate embodied video generation. It presents RoboJudge-Bench, a benchmark of 800 human‑annotated videos assessing Physical Adherence and Instruction Alignment, and RoboJudge-Train, a 12K‑video dataset with human‑verified scores and rationales. Fine‑tuned on this data, RoboJudge‑9B achieves the highest agreement with human judgments, outperforming existing models and improving performance on external physics benchmarks.
arXiv:2606. 28385v1 Announce Type: cross Abstract: Recent advances in robot world models enable synthetic video generation for embodied prediction and planning.
Embodied foundation models are expected to benefit from data scaling like large language models, but face a much tighter data bottleneck. Teleoperated real-robot trajectories remain the dominant pretraining source due to their precise action supervision and embodiment alignment, yet their scalability is limited by high collection cost, acquisition difficulty, and low behavioral and environmental diversity.
arXiv:2606. 00054v1 Announce Type: cross Abstract: Recent progress in generalizable embodied control has been driven by large-scale pretraining of Vision-Language-Action (VLA) models.
arXiv:2608.22301v1 Announce Type: cross Abstract: Humans imitate at the level of intent: given a demonstration, we infer its goal and carry it out with whatever tools, objects, and layouts are at han...
arXiv:2609.36628v1 Announce Type: new Abstract: Vision-Language Models (VLMs) can generate rich video captions, yet often misidentify which person performs an action or which limb is involved, partic...
RoboPhys-3D is a 3D‑grounded embodied world model benchmark built on RoboTwin 2.0, featuring 50 manipulation tasks, 5,000 episodes, and 25,000 multi‑view ground‑truth videos. It evaluates video world models by processing both generated and ground‑truth videos through the same 3D reconstruction pipeline, allowing the separation of reconstruction‑induced from generation‑induced errors. The benchmark defines 50 metrics across four sub‑dimensions—pixel fidelity, 3D geometry consistency, state understanding, and task completeness—and introduces the Average Full Score and RoboPhyscore for holistic assessment, with RoboPhyscore showing strong correlation with human judgments.
arXiv:2606. 28128v1 Announce Type: cross Abstract: Video generation models have emerged as a promising paradigm for embodied world simulation.
InternW0-Δ is a unified World Action Model that integrates pretrained visual dynamics, scene semantics, 4D geometry, and motion priors within a Mixture-of-Transformers framework to generate robot actions. It leverages a frozen VLM for semantic guidance, a 4D foundation model for geometric priors, and introduces Causal Imprint to learn future-relevant scene changes without future-video rollout. The model is pretrained on a newly curated 20K‑hour heterogeneous corpus of robot and human demonstrations, achieving superior performance on simulation benchmarks and real‑robot platforms.
arXiv:2608. 02150v2 Announce Type: replace-cross Abstract: Embodied intelligence and world models require video understanding systems to go beyond recognizing objects and actions and develop an understanding of physical regularities.
PhysBrain 1.5 is a unified vision‑language model that learns to understand physical environments, generate actions, and predict future states by encoding language, end‑effector motion, and dense visual targets as discrete sequences and training them with autoregressive next‑token prediction. The model is pre‑trained on human interaction videos and fine‑tuned on human demonstrations, robot trajectories, and simulated experience, achieving an average score of 72.5 across 28 embodied understanding benchmarks and outperforming other open‑source models on 14 of them. It also demonstrates the ability to produce end‑effector trajectories and predict future scenes with spatially aligned RGB, depth, and robot‑mask outputs.
arXiv:2609.36691v1 Announce Type: new Abstract: Manipulation behaviors vary widely across objects and scenes, but they share a small set of reusable skills, and planning with these skills helps embod...
arXiv:2602. 19313v2 Announce Type: replace-cross Abstract: General-purpose robot learning requires dense, instruction-conditioned feedback that can distinguish meaningful task progress from stalled, failed, or partially completed behavior.