FORM: Robot Manipulation through Direct Material Law Identification

arXiv:2609.38105 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Comments: 9 pages, 6 figures. Project page: https://form-robots.github.io/ . Code: https://github.com/form-robots/FORM

Code: https://github.com/form-robots/FORM

Project page: https://form-robots.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Accuracy — 6× in this paper · explained in 1 episode
• System Identification — 3× in this paper · explained in 3 episodes
• Abstraction — 2× in this paper · explained in 1 episode
• Adam — 2× in this paper · explained in 2 episodes
• Calibration — 2× in this paper · explained in 7 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Trace — 2× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Bulk Viscosity — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Inverse Problem — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Temporal Abstraction — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• WorldPlanner: Monte Carlo Tree Search and MPC with Action-Conditioned Visual World Models
• Physically Viable World Models: A Case for Query-Conditioned Embodied AI
• PAC-NeRF: Physics Augmented Continuum Neural Radiance Fields for Geometry-Agnostic System Identification
• RoboCook: Long-Horizon Elasto-Plastic Object Manipulation with Diverse Tools
• DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Tools
• Planning with Spatial-Temporal Abstraction from Point Clouds for Deformable Object Manipulation
• RISP: Rendering-Invariant State Predictor with Differentiable Simulation and Rendering for Cross-Domain Parameter Estimation
• AdaptiGraph: Material-Adaptive Graph-Based Neural Dynamics for Robotic Manipulation
• Parameter-Efficient Conditioning for Material Generalization in Graph-Based Simulators

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