{"id":"https://openalex.org/W7163661468","doi":"https://doi.org/10.48550/arxiv.2606.05773","title":"PiL-World: A Chunk-Wise World Model for VLA Policy-in-the-Loop Evaluation","display_name":"PiL-World: A Chunk-Wise World Model for VLA Policy-in-the-Loop Evaluation","publication_year":2026,"publication_date":"2026-06-04","ids":{"openalex":"https://openalex.org/W7163661468","doi":"https://doi.org/10.48550/arxiv.2606.05773"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.05773","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.05773","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.05773","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137941278","display_name":"Chong Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Chong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061219010","display_name":"Taiyi Su","orcid":"https://orcid.org/0000-0002-4357-1095"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Su, Taiyi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137967361","display_name":"Jian Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Jian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137933658","display_name":"Jianjun Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Jianjun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088827276","display_name":"Zitai Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Zitai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137953022","display_name":"Yi Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Yi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138001487","display_name":"Hanli Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Hanli","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.45559999346733093,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.45559999346733093,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0949999988079071,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.09099999815225601,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.7003999948501587},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6883000135421753},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6355999708175659},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6305000185966492},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6057999730110168},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5277000069618225},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.43779999017715454},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.3422999978065491}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7329000234603882},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.7003999948501587},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6883000135421753},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6355999708175659},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6305000185966492},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6057999730110168},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5831000208854675},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5277000069618225},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46970000863075256},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.43779999017715454},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3431999981403351},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.3422999978065491},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33250001072883606},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32170000672340393},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3093999922275543},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.30630001425743103},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.29809999465942383},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.29100000858306885},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2842000126838684},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.26339998841285706},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.25450000166893005},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.2531999945640564},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2529999911785126}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.05773","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.05773","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.05773","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.05773","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7437293529510498}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-language-action":[0],"(VLA)":[1],"policies":[2],"operate":[3],"in":[4,8,230],"a":[5,12,78,98],"closed":[6],"loop":[7],"real-world":[9,231],"robot":[10,13,36,136,155,213],"tasks:":[11],"observes":[14],"the":[15,27,64,68,88,92,110,115,120,183,188,219,223],"scene,":[16],"executes":[17],"an":[18],"action":[19,37,46,58,93],"chunk,":[20],"and":[21,91,113,127,157,233],"conditions":[22,146],"its":[23],"next":[24],"decision":[25],"on":[26,63,149,197],"resulting":[28],"observation.":[29],"However,":[30],"most":[31],"existing":[32],"world":[33,80],"models":[34],"for":[35,83],"evaluation":[38,133,239],"are":[39,107,208],"limited":[40],"to":[41,242],"open-loop":[42],"prediction":[43],"along":[44],"pre-collected":[45],"trajectories.":[47],"This":[48],"prevents":[49],"them":[50],"from":[51,153,178,240],"supporting":[52],"closed-loop":[53,132,237],"VLA":[54,85,99,111,125,226],"evaluation,":[55],"where":[56],"each":[57],"chunk":[59],"must":[60],"be":[61],"conditioned":[62],"observation":[65,90],"generated":[66],"by":[67,97,119],"previous":[69],"execution.":[70],"To":[71,141],"address":[72],"this":[73],"gap,":[74],"we":[75],"propose":[76],"PiL-World,":[77],"chunk-wise":[79],"model":[81],"designed":[82],"policy-in-the-loop":[84],"evaluation.":[86],"Given":[87],"current":[89],"trajectory":[94],"rolled":[95],"out":[96],"policy,":[100],"PiL-World":[101,130,145,196,203],"generates":[102,204],"multi-view":[103,169],"future":[104],"observations":[105],"that":[106,160,207],"consistent":[108,210],"with":[109,211,218],"rollout":[112,143],"match":[114,187],"image":[116],"inputs":[117],"required":[118],"policy.":[121],"By":[122],"alternating":[123],"between":[124,225],"inference":[126],"world-model":[128,238],"prediction,":[129],"enables":[131],"without":[134],"real":[135,191,199,212],"execution":[137,163,180],"at":[138],"every":[139],"step.":[140],"improve":[142],"fidelity,":[144],"video":[147],"generation":[148],"action-derived":[150],"visual":[151],"control":[152],"head-view":[154],"motion":[156],"latent":[158],"histories":[159],"encode":[161],"task":[162],"context,":[164],"while":[165],"jointly":[166],"predicting":[167],"complementary":[168],"observations.":[170],"Beyond":[171],"successful":[172],"teleoperated":[173],"demonstrations,":[174],"it":[175,221],"also":[176],"learns":[177],"failed":[179],"trajectories,":[181],"helping":[182],"imagined":[184,205],"rollouts":[185,206,232],"better":[186],"distribution":[189],"of":[190],"policy":[192],"executions.":[193,214],"We":[194],"evaluate":[195],"three":[198],"dual-arm":[200],"manipulation":[201],"tasks.":[202],"highly":[209],"More":[215],"importantly,":[216],"compared":[217],"baseline,":[220],"reduces":[222],"error":[224],"success":[227],"rates":[228],"measured":[229],"those":[234],"estimated":[235],"through":[236],"63.2%":[241],"12.0%.":[243]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-06T00:00:00"}