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Qi Wang

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2 published item(s)

preprint2026arXiv

Does Your Wildfire Prediction Model Actually Work, or Just Score Well?

Wildfire prediction is important for early warning and resource allocation, yet existing Earth foundation models (Earth FMs) are pretrained for general atmospheric and geophysical objectives rather than wildfire forecasting. To address this gap, we introduce WILDFIRE-FM, the first foundation model pretrained specifically for wildfire prediction using weather, active-fire observations, topography, vegetation, and static environmental data. However, introducing a domain-specific backbone alone does not solve the evaluation problem: wildfire events are sparse in space and time, making transfer conclusions highly sensitive to matching rules and evaluation settings. To address this problem, we introduce a fixed-contract evaluation framework with two controlled checks: a fixed-output check for matching-rule effects and a fixed-feature check for head-selection effects. Under matched contracts, we compare WILDFIRE-FM with ten Earth-FM baselines across occupancy, spread, retrieval, and regression tasks. Our results show that wildfire transfer conclusions depend strongly on evaluation design and task formulation. We hope this framework and WILDFIRE-FM provide a foundation for future wildfire-specific Earth-FM research and benchmarking. Our code is available at https://anonymous.4open.science/r/Wildfire-fm-evaluation-contracts-5AE9/.

preprint2026arXiv

OrbiSim: World Models as Differentiable Physics Engines for Embodied Intelligence

We present OrbiSim, a novel robotic simulation paradigm that redefines world models as a fully differentiable physics engine for embodied intelligence. Unlike prior world models that focus on unconstrained imagination in latent or visual domains, OrbiSim establishes a unified, physically-grounded pathway that bridges structured scene assets, neural dynamics, and downstream reinforcement learning. By enabling end-to-end differentiability throughout the entire simulation loop -- spanning from explicit state transitions to visual observation generation -- OrbiSim supports tasks traditionally intractable for classical simulators, such as differentiable contact modeling, gradient-based policy optimization under sparse rewards, and intuitive physical inference. Empirical results demonstrate that OrbiSim significantly outperforms state-of-the-art world models in both predictive fidelity and control performance. Furthermore, its consistent responsiveness to asset configurations and physical parameters suggests its potential as a differentiable tool for enhancing robot simulation and policy training.