WorldArena 2.0: Extending Embodied World Model Benchmarking on Modality, Functionality and Platform

arXiv 2026 55.2 benchmark

TLDR

WorldArena 2.0 expands embodied world model benchmarking across modality, functionality, and platform, including real-world evaluations.

Reasoning

The paper systematically broadens evaluation along three dimensions (modality, functionality, platform) and includes real-world robotic settings, which is a strength. However, the abstract lacks specific experimental results or comparisons, limiting assessment of the benchmark's impact.

Read-first score

Read-first score 55.2, weighted from topical fit, citation, graph, method, reproducibility, and recency signals. Original total remains 45.

Recency 6%

100

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

Citation impact 18%

82.2

Uses OpenAlex-shaped citation metadata as a bibliometric attention signal, separate from paper quality. citation_normalized_percentile=0.82211939

Topical relevance 29%

64.3

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

Methodology quality 18%

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

Reproducibility 18%

Screens links and visible text for paper, code, dataset, artifact, and repository signals. pdf=True; code=False; dataset=False; markers=none

Citation velocity 12%

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

Field roles

FoundationFrontierBridge

Rank sensitivity

Stability: volatile; rank range: 347.

Keyword Scores

world model

world dynamics prediction

model-based reinforcement learning world model

interactive world model

world simulator

video world model

generative world model

Deep Analysis

Innovations

Extends evaluation from vision-only to visuotactile modalities, enabling assessment of multimodal perception and prediction.
Extends functionality beyond policy evaluation and planning to assess world models as interactive RL environments for policy optimization.
Extends platform from simulator-only evaluation to a diverse suite of simulated and real-world robotic settings across multiple embodiments.

Methodology

WorldArena 2.0 is a benchmark that systematically broadens embodied world model evaluation along three dimensions: modality, functionality, and platform. It uses a standardized protocol to evaluate perceptual quality, interactive utility, and cross-platform performance across simulated and real-world robotic settings.

Key Results

The benchmark provides a comprehensive testbed for tracking progress toward embodied world models, enabling assessment of multimodal perception, interactive RL, and cross-platform performance.

Resources

Paper