Because the same number of particles (ie same mass of particles) occupy a greater volume it makes the heated air less dense than the surrounding cold air. Less dense material always floats on more dense fluids (gas or liquid) hence the heated air rises up and floats on the more dense colder air. The same process can happen in a liquid. This type of heat transfer is called CONVECTION
Radiation
Radiation does not involve particles, It is heat transfer by electromagnetic waves (see electromagnetic spectrum, heat is the Infrared part of the spectrum). Because particles are not involved heat waves can travel through a vacuum. Heat from the sun travels through space, which is a vacuum.
Dark objects absorb radiated heat better than light silver objects . Play the above clip and see the temperature rise in the dark can faster than the silver can. DARK OBJECTS ALSO RADIATE HEAT BETTER THAN LIGHT SILVER OBJECTS. If hot water were put in two the cans and the cans were allowed to cool, the dark can would cool the fastest.