PhyPush is a physics-guided Transformer that estimates mass and friction from single-push velocity data, claiming over 10% error reduction versus privileged-force baselines in simulation and successful sim-to-real zero-shot transfer.
Estimating An Object’s Inertial Parameters By Robotic Pushing: A Data-Driven Approach,
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PhyPush: One Push is All You Need for Sensorless Physical Property Estimation with Physics-Guided Transformers
PhyPush is a physics-guided Transformer that estimates mass and friction from single-push velocity data, claiming over 10% error reduction versus privileged-force baselines in simulation and successful sim-to-real zero-shot transfer.