# WorldOracle: Benchmarking action-conditioned world models against real-world executions

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/qiif1vfs0ukcf38ofsqzfb4ej
- Original: https://arxiv.org/abs/2610.18826

## Summary

WorldOracle is a benchmark for action-conditioned world models (ACWMs) that uses identical initial observations and low-level action sequences to test whether predicted rollouts can reproduce real-world physical consequences and task-state transitions. The evaluation covers four dimensions: physical state correctness, interaction spatial alignment, key interaction area fidelity, and multi-view action coherence, and is paired with long, multi-segment real-world data containing both successful and failed executions. Experiments on seven representative ACWMs reveal different models' strengths and failure modes. The dataset, evaluation code, and leaderboard are publicly available.