الملخص
Embodied world models predict the outcomes of robot actions to support learning and planning. For robots equipped with head and wrist cameras, this requires complementary views: the head view captures the overall task, while wrist views reveal local gripper-object interactions. However, evaluating these views independently cannot determine whether they describe the same action and object state. We introduce TRIWORLDBENCH, a benchmark for evaluating embodied world models through synchronized head, left-wrist, and right-wrist videos. It contains 500 episodes across 50 bimanual manipulation tasks and uses 19 metrics to assess tri-view consistency, task alignment, physical and 3D coherence, motion quality, temporal consistency, and visual quality. By combining cross-view checks with measurements tailored to each camera, the benchmark evaluates whether plausible individual videos also form a consistent prediction of the intended task. We summarize overall performance with TWB-Score and retain per-view results to identify where predictions fail. This extends world-model evaluation beyond single-view visual quality. Code, data, and metric definitions are available at https://github.com/TriWorldBench/TriWorldBench.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Liu, X., Wang, H., Li, R., Yu, D., Wan, R., Zhang, R., Tao, S., Yang, X., Zhang, S., Zhang, Z., Zhang, J., & Ma, S. (2026). TriWorldBench: A Tri-View Consistency Perspective on Embodied World Models. https://omanscience.com/ar/articles/triworldbench-a-tri-view-consistency-perspective-on-embodied-world-models
MLA 9
Liu, Xuanyi, et al. "TriWorldBench: A Tri-View Consistency Perspective on Embodied World Models." https://omanscience.com/ar/articles/triworldbench-a-tri-view-consistency-perspective-on-embodied-world-models.
شيكاغو (المؤلف–التاريخ)
Liu, Xuanyi, Haofeng Wang, Ruiqi Li, Danni Yu, Rui Wan, Ruixu Zhang, Siyu Tao, Xue Yang, Shaofeng Zhang, Zicheng Zhang, Jiaqi Zhang, and Siwei Ma. 2026. "TriWorldBench: A Tri-View Consistency Perspective on Embodied World Models." https://omanscience.com/ar/articles/triworldbench-a-tri-view-consistency-perspective-on-embodied-world-models.
هارفارد
Liu, X., Wang, H., Li, R., Yu, D., Wan, R., Zhang, R., Tao, S., Yang, X., Zhang, S., Zhang, Z., Zhang, J. and Ma, S. (2026) 'TriWorldBench: A Tri-View Consistency Perspective on Embodied World Models', Available at: https://omanscience.com/ar/articles/triworldbench-a-tri-view-consistency-perspective-on-embodied-world-models.
فانكوفر
Liu X, Wang H, Li R, Yu D, Wan R, Zhang R, et al. TriWorldBench: A Tri-View Consistency Perspective on Embodied World Models. https://omanscience.com/ar/articles/triworldbench-a-tri-view-consistency-perspective-on-embodied-world-models
IEEE
X. Liu, H. Wang, R. Li, D. Yu, R. Wan, R. Zhang, S. Tao, X. Yang, S. Zhang, Z. Zhang, J. Zhang, and S. Ma, "TriWorldBench: A Tri-View Consistency Perspective on Embodied World Models," https://omanscience.com/ar/articles/triworldbench-a-tri-view-consistency-perspective-on-embodied-world-models.