So this is a new world? what's the difference between the the two?

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Some details from developers:

Grail World is not PvP server, but PvE and that is the main difference. Wars requires accept from another player, so most conflicts will happen in unoccupied cities. But since that is not enough to make playing interesting, we are creating special adventure huts there were some nice prizes will be gathered from time to time, so these places should be a place to control.

Such adventure huts will appear on Beta and Crusade worlds as well, but there will be much more of them on grail server, since PvE itself gives too little fun and there should be extra reasons for limited PvP.