{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,11]],"date-time":"2025-09-11T16:40:08Z","timestamp":1757608808468,"version":"3.44.0"},"reference-count":66,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,5,19]]},"DOI":"10.1109\/icra55743.2025.11127955","type":"proceedings-article","created":{"date-parts":[[2025,9,2]],"date-time":"2025-09-02T17:28:56Z","timestamp":1756834136000},"page":"5997-6004","source":"Crossref","is-referenced-by-count":1,"title":["Learning Object Properties Using Robot Proprioception via Differentiable Robot-Object Interaction"],"prefix":"10.1109","author":[{"given":"Peter Yichen","family":"Chen","sequence":"first","affiliation":[{"name":"MIT CSAIL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chao","family":"Liu","sequence":"additional","affiliation":[{"name":"MIT CSAIL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pingchuan","family":"Ma","sequence":"additional","affiliation":[{"name":"MIT CSAIL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"John","family":"Eastman","sequence":"additional","affiliation":[{"name":"MIT CSAIL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daniela","family":"Rus","sequence":"additional","affiliation":[{"name":"MIT CSAIL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dylan","family":"Randle","sequence":"additional","affiliation":[{"name":"Amazon Robotics"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuri","family":"Ivanov","sequence":"additional","affiliation":[{"name":"Amazon Robotics"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wojciech","family":"Matusik","sequence":"additional","affiliation":[{"name":"MIT CSAIL"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.31399\/asm.tb.tt2.9781627083553"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2017.04.001"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2119850"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1088\/1742-6596\/1267\/1\/012036"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399184"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942626"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500306"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1988.12308"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1988.194738"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1080\/00207729808929589"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2004.1383790"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2015.xi.012"},{"key":"ref13","doi-asserted-by":"crossref","DOI":"10.1109\/ICRA48506.2021.9560935","article-title":"NeuralSim: Augmenting differentiable simulators with neural networks","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Heiden","year":"2021"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2022.799893"},{"journal-title":"Learning particle dynamics for manipulating rigid bodies, deformable objects, and fluids","year":"2018","author":"Li","key":"ref15"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.2988642"},{"key":"ref17","first-page":"112","article-title":"3d neural scene representations for visuomotor control","volume-title":"Conference on Robot Learning.","author":"Li","year":"2022"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1177\/02783649231201201"},{"key":"ref19","article-title":"Model-based control with sparse neural dynamics","volume":"36","author":"Liu","year":"2024","journal-title":"Advances in Neural Information Processing Systems"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10342062"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968053"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau5872"},{"key":"ref23","first-page":"5927","article-title":"Visual grounding of learned physical models","volume-title":"International conference on machine learning.","author":"Li","year":"2020"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1145\/3355089.3356548"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794333"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1145\/3490168"},{"key":"ref27","article-title":"End-to-end differentiable physics for learning and control","volume":"31","author":"de Avila Belbute-Peres","year":"2018","journal-title":"Advances in neural information processing systems"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2019.00006"},{"key":"ref29","first-page":"804","article-title":"Encoding physical constraints in differentiable newton-euler algorithm","volume-title":"Learning for Dynamics and Control.","author":"Sutanto","year":"2020"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561805"},{"key":"ref31","article-title":"Plasticinelab: A soft-body manipulation benchmark with differentiable physics","author":"Huang","year":"2021","journal-title":"ICLR"},{"key":"ref32","first-page":"17 123","article-title":"Differentiable simulation of soft multi-body systems","volume":"34","author":"Qiao","year":"2021","journal-title":"Advances in Neural Information Processing Systems"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981687"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-37832-4_2"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3062323"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2021.xvii.034"},{"journal-title":"Risp: Rendering-invariant state predictor with differentiable simulation and rendering for cross-domain parameter estimation","year":"2022","author":"Ma","key":"ref37"},{"key":"ref38","first-page":"23 279","article-title":"Learning neural constitutive laws from motion observations for generalizable pde dynamics","volume-title":"International Conference on Machine Learning.","author":"Ma","year":"2023"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1068\/p210655"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386252"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2640183"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0162"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3082020"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-28572-1_15"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399634"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911408368"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.01676"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4899-7560-7"},{"journal-title":"Interactive differentiable simulation","year":"2019","author":"Heiden","key":"ref49"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611971392"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812293"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1098\/rstl.1876.0006"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1115\/1.4010821"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1680\/geot.1979.29.1.47"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1017\/cbo9780511619571"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1017\/cbo9780511755446"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1145\/3180491"},{"key":"ref58","article-title":"The finite element method: linear static and dynamic finite element analysis","author":"Hughes","year":"2003","journal-title":"Courier Corporation"},{"volume-title":"Warp: A high-performance python framework for gpu simulation and graphics","author":"Macklin","key":"ref59"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1145\/3664475.3664543"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6943119"},{"key":"ref62","first-page":"115","article-title":"Making a science of model search: Hyperparameter optimization in hundreds of dimensions for vision architectures","volume-title":"International conference on machine learning.","author":"Bergstra","year":"2013"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-32494-1_4"},{"journal-title":"Pac-nerf: Physics augmented continuum neural radiance fields for geometry-agnostic system identification","year":"2023","author":"Li","key":"ref64"},{"journal-title":"Adam: A method for stochastic optimization","year":"2014","author":"Kingma","key":"ref65"},{"journal-title":"Sgdr: Stochastic gradient descent with warm restarts","year":"2016","author":"Loshchilov","key":"ref66"}],"event":{"name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","start":{"date-parts":[[2025,5,19]]},"location":"Atlanta, GA, USA","end":{"date-parts":[[2025,5,23]]}},"container-title":["2025 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11127273\/11127223\/11127955.pdf?arnumber=11127955","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,3]],"date-time":"2025-09-03T06:45:57Z","timestamp":1756881957000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11127955\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,5,19]]},"references-count":66,"URL":"https:\/\/doi.org\/10.1109\/icra55743.2025.11127955","relation":{},"subject":[],"published":{"date-parts":[[2025,5,19]]}}}