Rethinking Video Generation Model for the Embodied World

Yufan Deng, Zilin Pan, Hongyu Zhang, Xiaojie Li, Huruoqing, Yufei Ding, Yiming Zou, Yan Zeng, Daquan Zhou

Keywords: video generation, foundation model, benchmark, dataset, robotics, embodied AI

Abstract: While video generation holds promise for embodied intelligence, current video models struggle with physical realism, and progress is hindered by the lack of standardized benchmarks. To address this gap, we introduce a comprehensive robotics benchmark, RBench, designed to evaluate robot-oriented video generation across five task domains and four distinct embodiments. By assessing task correctness and visual fidelity through reproducible metrics, our evaluation of 25 models reveals significant deficiencies in generating physically realistic robot behaviors. Furthermore, the benchmark achieves a 0.96 Spearman correlation with human judgment, validating its effectiveness. While RBench provides the necessary lens to identify these deficiencies, achieving physical realism requires moving beyond evaluation to address the critical shortage of high-quality training data. Driven by these insights, we introduce a refined four-stage data pipeline, resulting in RoVid-X, the largest open-source robotic dataset for video generation with 4 million annotated video clips, covering thousands of tasks and enriched with physical property annotations. Extensive experiments demonstrate that finetuning on RoVid-X yields consistent performance gains. Collectively, this synergistic ecosystem of evaluation and data establishes a robust foundation for rigorous assessment and scalable training of video models, accelerating the evolution of embodied AI toward physical intelligence.

Submission Number: 32