RoboWorld: Fast and Reliable Neural Simulators for Generalist Robot Policy Evaluation

• URL: http://arxiv.org/abs/2607.01060v1
• Date: Wed, 01 Jul 2026 15:22:41 GMT
• Title: RoboWorld: Fast and Reliable Neural Simulators for Generalist Robot Policy Evaluation
• Abstract summary: Video world models are emerging as a scalable alternative for evaluating generalist robot policies.<n>We introduce RoboWorld, an automated evaluation pipeline that pairs a fast video world model with a task-progress-aware vision-language model scoring.
• Score: 52.855830378221775
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Video world models are emerging as a scalable alternative for evaluating generalist robot policies, bypassing the physical constraints and engineering burdens of real-world deployment. However, evaluating policies with video world models remains challenging, as world-model errors can make generated rollouts unreliable and slow inference limits large-scale throughput. We introduce RoboWorld, an automated evaluation pipeline that pairs a fast autoregressive video world model with a task-progress-aware vision-language model scoring. To enable reliable long-horizon autoregressive world-model rollouts, we propose Step Forcing, which combines anchored and one-step self-forwarded contexts to reduce train--test mismatch while preserving action--observation dynamics. Together, these components enable RoboWorld to align strongly with real-world robot evaluation across tasks and environments, achieving Pearson's r = 0.989 and Spearman's \r{ho} = 0.970.

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