PointCast: One World Model for Rigid, Articulated, and Deformable Object Manipulation

arXiv:2609.28393 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

Code: https://github.com/newton-physics/newton

Project page: https://pointcast-wm.github.io

Terminology

• Actor — 17× in this paper · explained in 3 episodes
• World Model — 16× in this paper · explained in 7 episodes
• Benchmark — 14× in this paper · explained in 2 episodes
• Transformer — 11× in this paper · explained in 2 episodes
• Digital Twin — 3× in this paper · explained in 5 episodes
• Gaussian Splatting — 3× in this paper · explained in 4 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Embeddings — 2× in this paper · explained in 2 episodes
• Flow Matching — 2× in this paper · explained in 8 episodes
• Affordance — 1× in this paper · explained in 1 episode
• Alternation — 1× in this paper · explained in 1 episode
• Conference on Computer Vision and Pattern Recognition — 1× in this paper
• Decode — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Rectified Flow — 1× in this paper · explained in 3 episodes
• Tokenization — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 4 episodes

Sources

• DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos
• PointWorld: Scaling 3D World Models for In-The-Wild Robotic Manipulation
• GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulation
• Real-to-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactions
• GaussTwin: Unified Simulation and Correction with Gaussian Splatting for Robotic Digital Twins
• Any-point Trajectory Modeling for Policy Learning
• 3DFlowAction: Learning Cross-Embodiment Manipulation from 3D Flow World Model
• 3D Point World Models: Point Completion Enables More Accurate Dynamics Learning

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