GE-Sim 2.0: A Roadmap Towards Comprehensive Closed-loop Video World Simulators for Robotic Manipulation

Abstract

We introduce GE-Sim 2.0 (Genie Envisioner World Simulator 2.0), a closed-loop video world simulator for robotic manipulation. Building on the action-conditioned video generation framework of Genie Envisioner, GE-Sim 2.0 is re-trained on thousands of hours of real-world robot data spanning teleoperation, contact-rich interaction, and on-robot policy deployment, substantially improving action-following fidelity and trajectory coverage. On top of this foundation, three new modules close the loop from video simulation to policy learning: a state expert that decodes proprioceptive state from video latents to support next-chunk prediction by downstream VLA policies; a world judge that scores generated rollouts against task instructions, yielding machine-verifiable success signals and rewards in place of manual inspection; and an acceleration framework that delivers a 25-frame rollout in 2.3 seconds on a single H100, with up to 4* frame skipping at inference for long-horizon evaluation. GE-Sim 2.0 tops the public WorldArena leaderboard at only 2B parameters, outperforming both dedicated robotic world models and closed-source general video generators, and policies trained against its rollouts and rewards translate into measurable real-world gains, establishing GE-Sim 2.0 as a practical platform for scalable evaluation and closed-loop learning of manipulation policies.