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cs.RO2026
WorldContact: A Contact-Centric World Model for Scalable Robot Learning
Caoliwen Wang, Mengdi Wang, Heng Zhang +7
Adapting robots to new objects and tasks requires interaction experience that can be costly to obtain. We present WorldContact, a contact-centric world model for deformable-object…
cs.RO2026
Generalizable Friction Coefficient Estimation via Material Embedding and Proxy Interaction Modeling
Zhendong Wang, Huamin Wang
Accurately estimating friction coefficients between arbitrary material pairs is critical for robotics, digital fabrication, and physics-based simulation, but exhaustive pairwise te…