---
publication_id: "OT-2026-000002748"
title: "Particle filtering for learning object physics from robot interaction videos"
published_at: "2026-09-15T19:15:05.682105Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002748"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1697"
  - "b25j9/1697"
  - "b25j9/1697"
  - "b25j9/16"
  - "b25j9/161"
  - "b25j9/161"
---

# Particle filtering for learning object physics from robot interaction videos

## Abstract

A method may include receiving training data comprising a plurality of RGB-D images of an object at a plurality of time steps, and a plurality of robot actions associated with the object at the plurality of time steps; and optimizing, using the training data, a dynamics function to predict a future state of the object based on a current state of the object and a robot action. A state of the object is estimated as a plurality of particles comprising 3D Gaussians using particle filtering.