ABot-PhysWorld: Interactive World Foundation Model for Robotic Manipulation with Physics Alignment
Video-based world models offer a powerful paradigm for embodied simulation and planning, yet state-of-the-art models often generate physically implausible manipulations - such as object penetration and anti-gravity motion - due to training on generic visual data and likelihood-based objectives that ignore physical laws. We present ABot-PhysWorld, a 14B Diffusion Transformer model that generates visually realistic, physically plausible, and action-controllable videos. Built on a curated dataset of three million manipulation clips with physics-aware annotation, it uses a novel DPO-based post-training framework with decoupled discriminators to suppress unphysical behaviors while preserving v...
| Authors | Yuzhi Chen, Ronghan Chen, Dongjie Huo et al. |
|---|---|
| Primary category | cs.CV |
| Published | 24 March 2026 |
| Last updated at source | 27 March 2026 |
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