RigPI combines VLM initialization with two-stage gradient-based optimization in differentiable simulation to estimate dynamic parameters of rigid bodies from real robot interactions.
Learning object properties using robot proprioception via differentiable robot-object interaction,
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RigPI: Dynamic Parameter Identification of Rigid Body via VLM-Seeded Differentiable Simulation
RigPI combines VLM initialization with two-stage gradient-based optimization in differentiable simulation to estimate dynamic parameters of rigid bodies from real robot interactions.