# WorldFailBench: Can World Models Understand Policy Failures?

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/cvsosbui05quw1300w310o62i
- Original: https://arxiv.org/abs/2610.33565

## Summary

The authors propose WorldFailBench, which uses three tasks—failure reason, failure stage, and failure boundary—to test whether world models faithfully simulate policy failures. The benchmark covers manipulation tasks in the LIBERO and RoboTwin simulation environments, as well as real-world manipulation tasks with the G1 humanoid robot. Experiments on seven world models show clear gaps in their understanding of policy failures.