Author

An-Pei Chen

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#small language model Preprint Sep 2026

WorldContact: A Contact-Centric World Model for Scalable Robot Learning

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 manipulation, constructed from a limited set of high-quality trajectories to generate additional training data efficiently. It predicts obje...

Caoliwen Wang, Meng-Di Wang, Heng Zhang et al. · 0 citations