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PileBelief: Persistent Physical State for Interaction-Driven World Modeling

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

World models allow robots to anticipate action consequences before execution. This capability is especially valuable in excavation, where each scoop reshapes the terrain and affects subsequent actions. Local observations, however, cannot fully reveal the underlying support and material conditions. We present PileBelief, an interaction-driven persistent world model for partially observed excavation that retains physical evidence beyond the visible surface. It combines an observation-conditioned physical prior with world-addressed deformation memory and physical-response memory. Action-aligned r

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