A Survey of Embodied World Models

World models have emerged as a pivotal research direction, with recent breakthroughs in generative AI underscoring their potential for advancing artificial general intelligence. For embodied AI, world models are critical for enabling robots to effectively understand, interact with, and make informed decisions in real-world physical environments. This survey systematically reviews recent progress in embodied world models, under a novel technical taxonomy. We hierarchically organize the field by model architectures, training methodologies, application scenarios, and evaluation approaches, thus offering researchers a clear technical roadmap. We first thoroughly discuss vision-based generative world models and latent space world models, along with their corresponding training paradigms. We then explore the multifaceted roles of embodied world models in robotic applications, from functioning as cloud-based simulation environments to on-device agent brains. Additionally, we summarize important evaluation dimensions for benchmarking embodied world models. Finally, we outline key challenges and provide insights into promising future research directions within this crucial domain. We summarize the representative works discussed in this survey at https://github. com/tsinghua-fib-lab/Awesome-Embodied-World-Model.