Physically Viable World Models: Supplementary Videos

Ramp Interactions

Rigid-body, restitution, and deformable-wall rollouts corresponding to the ramp-to-tower and jelly-wall examples in the paper.

Rigid tower: wood blocks

Steel ball collides with a low-density wood block tower.

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Rigid tower: steel blocks

Same visible geometry with higher-density target blocks.

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Restitution variant

High-restitution projectile and target elements change the collision response.

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Restitution with steel lower blocks

Bouncy projectile with a composite target containing steel rigid blocks.

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Single jelly wall

Deformable target response under a ramp-driven collision.

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Two jelly walls

Sequential deformable-body interaction used in the diffusion comparison.

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Longer jelly-wall release

Higher-energy deformable interaction from an extended ramp setup.

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Rigid-Fluid Coupling

Liquid-filled cup impact demonstrating coupled rigid-body and particle-fluid dynamics.

Ramp-to-cup with water

A heavy ball tips a water-filled cup, producing slosh and spill behavior.

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Robot-Wall Pushing

Franka/Panda end-effector pushes into a freestanding wall while contact height and friction determine sliding or overturning.

High contact point

The push creates a large tipping moment and overturns the wall.

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Low contact point

The same horizontal motion produces sliding with little final tilt.

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Center push: high friction

Frictional support makes the centered push tip the wall over.

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Center push: low friction

Reduced friction changes the same contact regime into sliding.

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Pouring and Viscosity

Robot-arm pouring rollouts for water-like, medium, target, honey-like, and estimated-viscosity liquids.

Water-like reference

Low-viscosity liquid transfer under the fixed robot motion.

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Medium-viscosity reference

Intermediate viscosity used as a calibration reference.

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Synthetic target liquid

Unknown target viscosity used for the parameter-estimation demo.

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Honey-like liquid

Higher-viscosity liquid with slower transfer and retained volume.

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Best-match estimated viscosity

Candidate simulation selected by the calibration demo.

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Reference liquid grid

Side-by-side comparison of viscosity-dependent reference rollouts.

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Target versus estimate

Direct comparison between the target liquid and selected estimate.

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The source code for generating these videos is available in the physically-viable-world-models repository.