# MRO-GWM: Action-Conditional and Object-Centric Gaussian Splatting World Model for Rigid Objects

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/isjhztgu5jxhb9t491ufrcw0e
- Original: https://arxiv.org/abs/2606.01950

## Summary

The authors propose MRO-GWM, an object-centric Gaussian world model for learning action-conditional dynamics of 3D rigid objects. The model represents arbitrary shapes and multi-object scenes with Gaussians in an object-centric frame, and uses a temporal-spatial Transformer to predict rigid body motion from past Gaussians and future actions; training is based on multi-view reconstruction, which requires handling partial observations caused by occlusion.