World-Ego Modeling for Long-Horizon Evolution in Hybrid Embodied Tasks D
AI benchmark · Embodied
What is World-Ego Modeling for Long-Horizon Evolution in Hybrid Embodied Tasks?
World models are widely explored in embodied intelligence, yet they typically predict distinct evolutions of the world and the ego within a single stream, where the world captures persistent instruction-agnostic scene regularities and the ego captures robot-centric instruction-conditioned dynamics. This world-ego entanglement leads to a degradation in long-horizon embodied scenarios, particularly in hybrid tasks with interleaved navigation and manipulation behaviors. In this paper, we introduce \emph{World-Ego Modeling}, a new conceptual paradigm that decomposes future evolution into world and ego components. We define the world-ego boundary from three perspectives, i.e., motion-, semantic-, and intention-based views, and analyze three disentanglement strategies with post-, pre-, and full disentanglement. Further, we instantiate this paradigm as the World-Ego Model (WEM), a unified embodied world model that couples an implicit separate world-ego planner with a cascade-parallel mixture-of-experts (CP-MoE) diffusion generator. To enable rigorous evaluation, we further construct HTEWorld, the first benchmark for long-horizon world modeling with hybrid navigation-manipulation tasks, providing 125K video clips (over 4.5M frames) with fine-grained action annotations and 300 multi-turn evaluation trajectories (over 2K instructions). Extensive experiments show that WEM achieves state-of-the-art performance on HTEWorld while remaining competitive on existing manipulation-only benchmarks.
Tier D · a leaderboard, listed apart
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- 5 models scored
- no proper name (a paper title or description)
- in curated RL directories (1 pt)
How we got to tier D
- Adoption: 5 models scored; no proper name (a paper title or description). Tier D.
- Not yet read on X.
- In curated RL directories: 1 point, a floor of none.
- Not yet confirmed by a line from its own site or paper.
- Judged a leaderboard, arena or index rather than one benchmark (or not a benchmark at all): listed apart.
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Not on the map yet: no line from its own site or paper places it in a domain.
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