OPENTECHNICAL PUBLICATION
OT-2026-000002748

Particle filtering for learning object physics from robot interaction videos

Published: 2026-09-15T19:15:05.682105Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002748
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000002748
Published 2026-09-15T19:15:05.682105Z
https://opentechnical.org/p/OT-2026-000002748