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awesome-world-models-for-robots

basics

benchmark

  • arXiv 2024, 03, HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation Paper Website. $15$ whole-body manipulation and $12$ locomotion tasks. This repo contains the code for environments and training.

dataset

  • AgiBot World Website. 1 million+ trajectories from 100 robots.
  • LeRobotDataset Website. A bunch of models, datasets, and tools for real-world robotics in PyTorch.
  • 1xgpt Website.
  • OXE Paper.

models

  • Cosmos Website. Autoregressive Video2World/Text2World foundation models.

toolbox

  • Menagerie Website MuJoCo physics engines. System identification toolbox has not been released.(up to 2025.1)
  • MuJoCo Playground Website Paper Training environments in mjx. Humanoid Locomotion, Quadruped Locomotion and Manipulation (most robot arms and hand) tasks are included.

papers

  • Daydreamer: World models for physical robot learning
  • CoRL 2023 (Oral), Finetuning Offline World Models in the Real World Website Paper Offline pretraining and online finetuning of world models. Robot arm manipulation tasks.
  • arxiv 2025, 01, Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics Paper. MBPO sim2real using world models. Quadruped locomotion tasks.
  • RSS 2023, Structured World Models from Human Videos. Paper. Robot arm manipulation tasks.

related: Robotics & vision-based RL

  • CoRL 2022 (Oral), Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion. Paper.
  • CoRL 2022 (Oral), Legged Locomotion in Challenging Terrains using Egocentric Vision. Paper.
  • CVPR 2023, Affordances from Human Videos as a Versatile Representation for Robotics. Paper.
  • ICML 2023 (Oral), Efficient RL via Disentangled Environment and Agent Representations. Website.
  • CoRL 2022, VideoDex: Learning Dexterity from Internet Videos. Website.
  • CVPR 2022, Coupling Vision and Proprioception for Navigation of Legged Robots. Paper.
  • CoRL 2024, Continuously Improving Mobile Manipulation with Autonomous Real-World RL. Paper. Mobile Manipulation.

related: World Models

  • Leo Fan's List. Website.
  • arxiv 2024, 05, Hierarchical World Models as Visual Whole-Body Humanoid Controllers. Website.
  • arxiv 2024, 07, Diffusion Forcing: Next-token Prediction Meets Full-Sequence Diffusion. Website.

related: Generative models for Decision-Making

  • arxiv 2025, 01, Inference-Time Alignment in Diffusion Models with Reward-Guided Generation: Tutorial and Review. Paper.
  • ICML 2024, 3D-VLA: A 3DVision-Language-Action Generative World Model. Paper.

related: RL in the Real World

  • arxiv 2021, 02, NeoRL: A Near Real-World Benchmark for Offline Reinforcement Learning. Paper. Website.

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