stable-worldmodel: A Platform for Reproducible World Modeling Research and Evaluation

Embodied AI and Robotics World Models Sim-Platform
世界模型对于构建能够进行推理、规划,并在训练数据之外实现泛化的智能体至关重要。然而,当前世界模型相关研究较为零散:彼此割裂的代码库、数据处理流程与评估协议,严重阻碍了研究结果的可复现性与公平比较。此外,现有实践还面临三大关键瓶颈:一是代码库脆弱且多为一次性定制开发;二是视频数据加载速度缓慢;三是缺乏标准化的泛化能力评测基准。为此,我们推出 stable-worldmodel(简称 swm),一个面向世界建模研究与评估的开源平台,致力于推动该领域研究的标准化与可复现性。swm 具备以下三大核心能力:(1)基于 Lance 构建的高性能数据层,原生支持 MP4、HDF5 和 LeRobot 等主流数据格式,并提供便捷的格式转换工具;(2)干净、规范、经过充分测试的现代世界模型基线方法及规划求解器实现;(3)一套涵盖广泛环境与任务的评测套件,所有任务均额外引入可控的视觉、几何与物理变化因子,从而支持对动力学理解能力、控制性能、表征质量以及分布外泛化能力开展系统性的纯仿真(in-silico)评估。通过将整个研究流程——从数据加载、模型训练到评估分析——统一整合于一个可扩展的单一框架之下,\texttt{swm} 显著降低了研究门槛与工程开销,有力加速了通往可靠、可信世界模型的稳健发展进程。
World models are central to building agents that can reason, plan, and generalize beyond their training data. However, research on world models is currently fragmented, with disparate codebases, data pipelines, and evaluation protocols hindering reproducibility and fair comparison. Current practice is further limited by three key bottlenecks: fragile one-off codebases, slow video data loading, and the lack of standardized generalization benchmarks. We present stable-worldmodel (swm), an open-source platform for standardized and reproducible world modeling research and evaluation. It delivers (1) a high-performance Lance-based data layer with native support and conversion tools for MP4, HDF5, and LeRobot datasets, (2) clean, well-tested implementations of modern world model baselines and planning solvers, and (3) a broad suite of environments and tasks extended with controllable visual, geometric, and physical factors of variation for systematic in-silico evaluation of dynamics understanding, control performance, representation quality, and out-of-distribution generalization. By unifying the full pipeline under a single, scalable framework, \texttt{swm} dramatically reduces research overhead and accelerates trustworthy progress toward reliable world models.
许愿