Robotic Multiphase Interaction: Manipulating Coupled Liquid and Solid Dynamics with a World Model

arXiv:2609.21448 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

Terminology

• World Model — 30× in this paper · explained in 7 episodes
• Flow Matching — 8× in this paper · explained in 8 episodes
• Ablation — 6× in this paper · explained in 1 episode
• Accuracy — 5× in this paper · explained in 1 episode
• Transformer — 5× in this paper · explained in 2 episodes
• Robotic Multiphase Interaction — 4× in this paper
• Action Conditioned — 2× in this paper
• Rectified Flow — 2× in this paper · explained in 3 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Action-Conditioned World Model — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Smoothed Particle Hydrodynamics — 1× in this paper

Sources

• ParticleFormer: A 3D Point Cloud World Model for Multi-Object, Multi-Material Robotic Manipulation

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