EVEWorld: Physical Evolution Supervision for Embodied World Models

arXiv:2610.03374v1 Announce Type: new Abstract: Embodied world models enable scalable simulation of embodied interactions for robot learning. However, existing models are prone to Model Laziness, as they focus on visual fidelity at the expense of physical reasoning and lack process-level supervision over the temporal dynamics of manipulated objects. In this work, we propose EVEWorld, a physical evolution-supervision framework for physically consistent target evolution. EVEWorld consists of two components: Instance-Guided Restoration (IGR) and Temporal Instance Alignment (TIA). First, IGR promotes instance consistency through restoration supervision. Second, TIA promotes cross-frame consistency by aligning target instances across adjacent frames. We further introduce the Model Laziness Rate (MLR), a metric that measures persistent violations of instance consistency in generated trajectories. Extensive experiments on DreamGenBench, EWMBench, and PBench demonstrate the effectiveness of EVEWorld, notably achieving an 87.5% reduction in MLR compared with GigaWorld-0. On the WorldArena 2.0 Track 1 leaderboard, our model ranks 6th in JEPA Similarity and 17th overall, which further validates the performance of our evolution supervision strategy.

Related

• PAVXploreRL: Physical-Action-Visual World Model Reinforcement Learning with Action Exploration
• MIND-V: Hierarchical World Model for Long-Horizon Robotic Manipulation with RL-based Physical Alignment
• WorldLine: Action-Driven Visual Simulation for Robotic Manipulation
• SKIP: Sparse Keyframe Interpolation Paradigm for Efficient Embodied World Models
• ODEWorld: A Continuous Predictive Architecture via Physical-Time Flow

Source: arXiv cs.CV | 2026-10-05