WEAVER, Better, Faster, Longer: An Effective World Model for Robotic Manipulation

• URL: http://arxiv.org/abs/2606.13672v2
• Date: Tue, 16 Jun 2026 20:54:22 GMT
• Title: WEAVER, Better, Faster, Longer: An Effective World Model for Robotic Manipulation
• Abstract summary: WEAVER (World Estimation Across Views for Embodied Reasoning) is a WM architecture that simultaneously achieves all three desiderata.<n>We apply WEAVER in robotic hardware, demonstrating its effectiveness at policy evaluation, policy improvement, and test-time planning.
• Score: 26.48387646424999
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: The potential impacts of world models (WMs, i.e., learned simulators) on robotics are far-reaching -- policy evaluation, policy improvement, and test-time planning -- all with limited real-world interaction. To unlock these downstream capabilities, a WM needs to jointly satisfy three desiderata: $\textit{(i)}$ fidelity (i.e., producing simulated trajectories that correlate with reality), $\textit{(ii)}$ consistency (i.e., producing simulated trajectories that are coherent over long horizons), and $\textit{(iii)}$ efficiency (i.e., producing simulated trajectories quickly). We propose WEAVER (World Estimation Across Views for Embodied Reasoning): a WM architecture that simultaneously achieves all three desiderata, providing state-of-the-art results on robotic manipulation tasks. WEAVER is a multi-view WM trained to predict future latents and reward values via a flow-matching loss. We distill the key design decisions across model architecture, memory, and prediction objectives required to unlock the kinds of long-horizon dynamic manipulation tasks that have confounded prior world modeling approaches. We apply WEAVER in robotic hardware, demonstrating its effectiveness at policy evaluation ($ρ$=0.870 correlation with real-world success rate), policy improvement (real-world success rate improvement of $38\%$ on top of the $π_{0.5}$ robot foundation model), and test-time planning (real-world success rate improvement of $14\%$ with a $5-10\times$ speedup over prior WMs). WEAVER also demonstrates better performance than prior WMs when evaluated on out-of-distribution scenarios. Code, models, and videos at: https://arnavkj1995.github.io/WEAVER/ .

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