{"id":"https://openalex.org/W7164479070","doi":"https://doi.org/10.48550/arxiv.2606.13053","title":"EV-WM: Event-Verified World Models for Long-Horizon Robotic Manipulation","display_name":"EV-WM: Event-Verified World Models for Long-Horizon Robotic Manipulation","publication_year":2026,"publication_date":"2026-06-11","ids":{"openalex":"https://openalex.org/W7164479070","doi":"https://doi.org/10.48550/arxiv.2606.13053"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.13053","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.13053","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.2606.13053","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134153062","display_name":"Kailin Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Kailin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002766256","display_name":"Haoxiang Jie","orcid":"https://orcid.org/0000-0001-6434-8119"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jie, Haoxiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005451910","display_name":"Yan Yaoyuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan, Yaoyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138499085","display_name":"Jiacheng Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Jiacheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5134189623","display_name":"Zhiyou Heng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Heng, Zhiyou","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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.4336000084877014,"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"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.4336000084877014,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.27720001339912415,"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":0.07859999686479568,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.5404000282287598},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5284000039100647},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4912000000476837},{"id":"https://openalex.org/keywords/predicate","display_name":"Predicate (mathematical logic)","score":0.4440000057220459},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.399399995803833},{"id":"https://openalex.org/keywords/mirroring","display_name":"Mirroring","score":0.3880999982357025},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.3806000053882599},{"id":"https://openalex.org/keywords/decodes","display_name":"Decodes","score":0.3765000104904175}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6133999824523926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6096000075340271},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.5404000282287598},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5284000039100647},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4912000000476837},{"id":"https://openalex.org/C140146324","wikidata":"https://www.wikidata.org/wiki/Q1144319","display_name":"Predicate (mathematical logic)","level":2,"score":0.4440000057220459},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.399399995803833},{"id":"https://openalex.org/C189645446","wikidata":"https://www.wikidata.org/wiki/Q350865","display_name":"Mirroring","level":2,"score":0.3880999982357025},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.3806000053882599},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3785000145435333},{"id":"https://openalex.org/C2778858076","wikidata":"https://www.wikidata.org/wiki/Q5249539","display_name":"Decodes","level":3,"score":0.3765000104904175},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.3562999963760376},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.34700000286102295},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.3391999900341034},{"id":"https://openalex.org/C3020493868","wikidata":"https://www.wikidata.org/wiki/Q55631277","display_name":"Real world data","level":2,"score":0.29580000042915344},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28450000286102295},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.2824000120162964},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.2793999910354614},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2745000123977661},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.2721000015735626},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.27129998803138733},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2639999985694885}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.13053","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.13053","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.2606.13053","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.13053","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Pretrained-feature":[0],"world":[1],"models":[2],"provide":[3],"a":[4,44,52,59,70],"useful":[5],"substrate":[6],"for":[7,65,74],"robot":[8],"imagination,":[9],"but":[10],"visual":[11],"or":[12,46],"latent":[13],"prediction":[14],"alone":[15],"does":[16],"not":[17],"determine":[18],"whether":[19,38,43,51,58],"an":[20,39],"imagined":[21],"future":[22,61],"satisfies":[23],"task-relevant":[24],"predicates.":[25],"Long-horizon":[26],"manipulation":[27,127],"requires":[28],"progress":[29],"signals":[30],"that":[31,131],"are":[32],"relational,":[33],"predicate-level,":[34],"and":[35,57,92,99,125,141],"physically":[36],"grounded:":[37],"object":[40],"has":[41,49],"moved,":[42],"drawer":[45],"contact":[47],"state":[48],"changed,":[50],"placement":[53],"predicate":[54],"is":[55,62],"satisfied,":[56],"candidate":[60,80,108],"reliable":[63],"enough":[64],"execution.":[66],"We":[67],"introduce":[68],"\\textbf{EV-WM},":[69],"predicate-grounded":[71,132],"verification":[72,133],"framework":[73],"world-model":[75,137],"planning.":[76],"EV-WM":[77,129],"rolls":[78],"out":[79],"futures":[81],"in":[82,111],"pretrained":[83],"visual-feature":[84],"space,":[85],"decodes":[86],"them":[87,94],"into":[88],"structured":[89],"event":[90],"states,":[91],"scores":[93],"using":[95],"task-progress,":[96],"semantic-consistency,":[97],"physical-feasibility,":[98],"uncertainty":[100],"terms.":[101],"The":[102],"verifier":[103],"guides":[104],"sampling-based":[105],"planning,":[106],"gates":[107],"actions,":[109],"and,":[110],"the":[112],"contact-sensitive":[113],"LIBERO":[114],"wine-rack":[115],"setting,":[116],"selects":[117],"among":[118],"PPO-generated":[119],"proposals.":[120],"Across":[121],"navigation,":[122],"deformable-object,":[123],"wall-constrained,":[124],"language-described":[126],"studies,":[128],"shows":[130],"can":[134],"make":[135],"feature-space":[136],"planning":[138],"more":[139],"interpretable":[140],"better":[142],"aligned":[143],"with":[144],"task":[145],"progress.":[146]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-13T00:00:00"}
