Author

Ruizhi Li

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Preprint Oct 2026

DreamTrue: Action-Faithful Robot World Model with Counterfactual Post-Training

We present DreamTrue, a multi-view, cross-embodiment robot world model for action-faithful and physically plausible video prediction. Training such a model on existing robot datasets faces two obstacles: imprecise calibration can impair action following, while limited coverage of unsuccessful interactions can bias pred...

Jun-Yan Li, Rui-Zhi Li, Yu Liu et al. · 0 citations

Preprint Aug 2026

WorldExam: Benchmarking World Models from Apparent Appearance to Inherent Reactivity

WorldExam is introduced, a hierarchical diagnostic benchmark spanning four levels: Visual Quality, Control Adherence, Spatial Consistency, and World Reactivity, which supports unified evaluation of camera-, action-, and language-driven model paradigms.

Yuxue Yang, Shu-Yao Shang, Jiahe Wang et al. · 2 citations