# Asking the World: Generalist Physical Reasoning through Agentic World Modeling and Probing

arXiv: https://arxiv.org/abs/2609.39135 · HTML: https://mlsanity.com/paper/2609.39135/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in World models for language agents, one of 11 directions in World models.
- Builds on 20 of its 50 references that are in the map.
- First posted on arXiv 30 Sep 2026.

## Placed in

- World models / [World models for language agents](https://mlsanity.com/wm/world-models-for-language-agents/)
- LLM agents and tool use / [Multimodal and embodied agents](https://mlsanity.com/agents/multimodal-and-embodied-agents/)

## Builds on (most cited first, 20 of 20)

- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [Qwen3-VL Technical Report](https://mlsanity.com/paper/2511.21631/) (2025)
- [SAM 3: Segment Anything with Concepts](https://mlsanity.com/paper/2511.16719/) (2025)
- [Depth Anything 3: Recovering the Visual Space from Any Views](https://mlsanity.com/paper/2511.10647/) (2025)
- [CLEVRER: CoLlision Events for Video REpresentation and Reasoning](https://mlsanity.com/paper/1910.01442/) (2019)
- [SAM 3D: 3Dfy Anything in Images](https://mlsanity.com/paper/2511.16624/) (2025)
- [VideoPhy: Evaluating Physical Commonsense for Video Generation](https://mlsanity.com/paper/2406.03520/) (2024)
- [Towards World Simulator: Crafting Physical Commonsense-Based Benchmark for Video Generation](https://mlsanity.com/paper/2410.05363/) (2024)
- [PAC-NeRF: Physics Augmented Continuum Neural Radiance Fields for Geometry-Agnostic System Identification](https://mlsanity.com/paper/2303.05512/) (2023)
- [SlotFormer: Unsupervised Visual Dynamics Simulation with Object-Centric Models](https://mlsanity.com/paper/2210.05861/) (2022)
- [Vision-as-Inverse-Graphics Agent via Interleaved Multimodal Reasoning](https://mlsanity.com/paper/2601.11109/) (2026)
- [Chain-of-Frames: Advancing Video Understanding in Multimodal LLMs via Frame-Aware Reasoning](https://mlsanity.com/paper/2506.00318/) (2025)
- [Dojo: A Differentiable Physics Engine for Robotics](https://mlsanity.com/paper/2203.00806/) (2022)
- [Geometrically-Constrained Agent for Spatial Reasoning](https://mlsanity.com/paper/2511.22659/) (2025)
- [QuantiPhy: A Quantitative Benchmark Evaluating Physical Reasoning Abilities of Vision-Language Models](https://mlsanity.com/paper/2512.19526/) (2025)
- [Track4World: Feedforward World-centric Dense 3D Tracking of All Pixels](https://mlsanity.com/paper/2603.02573/) (2026)
- [SIMPACT: Simulation-Enabled Action Planning using Vision-Language Models](https://mlsanity.com/paper/2512.05955/) (2025)
- [SlotPi: Physics-informed Object-centric Reasoning Models](https://mlsanity.com/paper/2506.10778/) (2025)
- [PhysMind: From Video to Executable Worlds for Training-Free Physical Reasoning](https://mlsanity.com/paper/2608.04575/) (2026)
- [Beyond Perceptual Shortcuts: Causal-Inspired Debiasing Optimization for Generalizable Video Reasoning in Lightweight MLLMs](https://mlsanity.com/paper/2605.01324/) (2026)

## Abstract (arXiv)

Physical reasoning from video requires inferring latent physical properties and dynamics beyond direct observation. Direct VLM inference remains unreliable on complex physical tasks without explicit modeling and validation, while predefined tool pipelines rely on task- and domain-specific priors that limit generalization across materials, dynamics, and reasoning tasks. We introduce Asking the World (ATW), a generalist agent that constructs and interrogates task-relevant executable worlds through two adaptive stages: World Modeling calibrates a world from video, while World Probing queries, simulates, and intervenes on it to obtain question-relevant evidence. Rather than prescribing the operations in either stage, ATW determines how to model and probe according to the scene and question. We develop PolyWorld Engine, a lightweight and highly programmable Warp-based multiphysics simulator for constructing and probing worlds with rigid bodies, soft bodies, cloth, ropes, fluids, and their coupled interactions. CEM-based system identification recovers task-relevant dynamics during World Modeling. The resulting world becomes an active workspace for question-directed physical experiments rather than a predetermined downstream tool. We evaluate ATW on CLEVRER, ContPhy, and three real-world scenarios. Using Gemini-3-Flash as its base VLM, ATW achieves 80.82% overall per-question accuracy on CLEVRER, improving direct Gemini-3-Flash by 46.50 points, GPT-5.5 by 13.58 points, and PhysMind by 8.27 points. On ContPhy, it reaches 70.56% overall accuracy, surpassing Gemini-3-Flash by 28.10 points and GPT-5.5 by 3.53 points. Across the three real-world scenarios, ATW achieves 71.67% accuracy, 28.33 points above GPT-5.5. These results establish agentic world modeling and probing as an effective, execution-grounded approach to generalist physical reasoning.