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Robotic Multiphase Interaction: Manipulating Coupled Liquid and Solid Dynamics with a World Model

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

This work presents \textit{Robotic Multiphase Interaction (RMI)}, a setting in which liquid enters a porous material and interacts mechanically with its deforming solid skeleton. Manipulation can therefore change pore volume, expel or redistribute retained liquid, and alter grasp stability at the same time. Spilled liquid can also create safety risks in domestic and manufacturing settings. This differs from most manipulation of solid objects and from tasks that involve both liquid and solid while keeping the phases spatially separate. We study a sponge filled with water as the first RMI exampl

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