5 papers
DuoCook: An Overcooked-Inspired Benchmark for Visual Planning and Coordination
Ziyi Jiao, Heng Zhang, Drishti Regmi +3
Coordinating two players in a cooking task requires a vision-language agent to track changing scene states, sequence recipe steps, and allocate shared resources under a time budget…
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…
Agentic Real2Sim: Physics-based World Modeling with Vision-Language Agents
Guanxiong Chen, Qianjun Xia, Jiawei Peng +24
Real-to-sim conversion for robotic interaction with objects remains labor-intensive because it requires more than visual reconstruction: a streamlined real2sim process must recover…
NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception
Zhiyang Dou, John U. Onyemelukwe, Hangxing Zhang +9
Differentiable simulators have advanced policy learning and model-based control across robotic tasks. Yet actuator dynamics remain underexplored and can be a major source of sim-to…
WorldParticle: Unified World Simulation of Lagrangian Particle Dynamics via Transformer
Caoliwen Wang, Minghao Guo, Siyuan Chen +13
A unified simulator that can model diverse physical phenomena without solver-specific redesign is a long-standing goal across simulation science. We present a learning-based partic…