Do Better Imagined Rollouts Mean Better Robot Control? A Controlled Study of World-Model Evaluation Under Feedback

arXiv 2026 35.2 benchmark, application

TLDR

Controlled study comparing open-loop rollout metrics against closed-loop tracking for evaluating world models in differential-drive robot control.

Reasoning

The paper provides a well-structured evaluation across many sensing conditions and shows that replay error correlates better with closed-loop performance than rollout error. However, the abstract is truncated and does not fully report limitations or broader applicability.

Read-first score

Read-first score 35.2, weighted from topical fit, citation, graph, method, reproducibility, and recency signals. Original total remains 27.

Recency 5%

100

Uses a gentle age decay so recent papers surface without erasing older foundations. 2026

Reproducibility 15%

Screens links and visible text for paper, code, dataset, artifact, and repository signals. pdf=True; code=True; dataset=False; markers=code,github

Methodology quality 15%

Screens visible abstract and analysis fields for experiment, dataset, baseline, metric, and limitation evidence. markers=evaluation,metric,result

Topical relevance 25%

38.6

Uses existing LLM keyword relevance scores normalized to 0-100. world model,world simulator,generative world model,interactive world model,video world model,world dynamics prediction,model-based reinforcement learning world model

Graph prestige 15%

5.7

PageRank-style prestige over the local citation graph built from available OpenAlex references. local_pagerank=0.0016

Citation impact 15%

Uses OpenAlex-shaped citation metadata as a bibliometric attention signal, separate from paper quality. cited_by_count=0

Citation velocity 10%

Citation velocity estimates citations per publication-year to reduce old-paper bias. velocity=0.00

Field roles

FrontierReproducibility anchor

Rank sensitivity

Stability: volatile; rank range: 544.

Keyword Scores

world model

world dynamics prediction

world simulator

interactive world model

model-based reinforcement learning world model

generative world model

video world model

Resources

Paper Code