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Author

Zhuo-Li Xie

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Preprint Sep 2026

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

World models are useful for robotic manipulation because robots can predict how actions change the states of objects before executing them. We present PointCast, a point-set world model that spans rigid, articulated, and deformable object manipulation. Its state is a set of 3D points on the object and the end-effector,...

Han-Tao Ye, Ross Worobel, Zhuo-Li Xie et al. · 0 citations

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