MRO-GWM learns action-conditional 3D dynamics of rigid objects via object-centric Gaussians and a transformer, evaluated on synthetic multi-object scenes and in simulation for non-prehensile manipulation.
ContactGaussian-WM: Learning physics-grounded world model from videos.arXiv preprint arXiv:2602.11021, 2026
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A contact-centric framework extracts contact event sequences from one demonstration to serve as structured reward for RL, yielding more stable sim-to-real transfer than unconstrained baselines in manipulation tasks.
citing papers explorer
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Learning Action-Conditional and Object-Centric Gaussian Splatting World Models for Rigid Objects
MRO-GWM learns action-conditional 3D dynamics of rigid objects via object-centric Gaussians and a transformer, evaluated on synthetic multi-object scenes and in simulation for non-prehensile manipulation.
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ConCent: Contact-Centric Real-to-Sim-to-Real Learning from One Demonstration
A contact-centric framework extracts contact event sequences from one demonstration to serve as structured reward for RL, yielding more stable sim-to-real transfer than unconstrained baselines in manipulation tasks.