RoboWorld: Fast and Reliable Neural Simulators for Generalist Robot Policy Evaluation
This work addresses the need for scalable and accurate robot policy evaluation without real-world deployment, providing a strong alternative to physical testing.
RoboWorld introduces a fast and reliable neural simulator for evaluating generalist robot policies, achieving near-perfect correlation with real-world evaluation (Pearson's r = 0.989, Spearman's ρ = 0.970).
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.