{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,4]],"date-time":"2025-09-04T13:27:16Z","timestamp":1756992436588,"version":"3.28.0"},"reference-count":41,"publisher":"IEEE","license":[{"start":{"date-parts":[[2022,10,23]],"date-time":"2022-10-23T00:00:00Z","timestamp":1666483200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,10,23]],"date-time":"2022-10-23T00:00:00Z","timestamp":1666483200000},"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":[[2022,10,23]]},"DOI":"10.1109\/iros47612.2022.9981687","type":"proceedings-article","created":{"date-parts":[[2022,12,26]],"date-time":"2022-12-26T19:38:15Z","timestamp":1672083495000},"page":"8383-8390","source":"Crossref","is-referenced-by-count":6,"title":["Inferring Articulated Rigid Body Dynamics from RGBD Video"],"prefix":"10.1109","author":[{"given":"Eric","family":"Heiden","sequence":"first","affiliation":[{"name":"NVIDIA,Santa Clara,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ziang","family":"Liu","sequence":"additional","affiliation":[{"name":"Stanford University,Stanford,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vibhav","family":"Vineet","sequence":"additional","affiliation":[{"name":"Microsoft Research,Redmond,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Erwin","family":"Coumans","sequence":"additional","affiliation":[{"name":"NVIDIA,Santa Clara,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gaurav S.","family":"Sukhatme","sequence":"additional","affiliation":[{"name":"Google Research,Mountain View,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1177\/02783649211056674"},{"key":"ref2","article-title":"Perspectives on sim2real transfer for robotics: A summary of the R:ss 2020 workshop","volume-title":"CoRR","volume":"abs\/2012.03806","author":"Hofer","year":"2020"},{"key":"ref3","article-title":"Graph networks as learnable physics engines for inference and control","author":"Sanchez-Gonzalez","year":"2018","journal-title":"arXiv preprint"},{"key":"ref4","article-title":"Learning to simulate complex physics with graph networks","author":"Sanchez-Gonzalez","year":"2020","journal-title":"arXiv preprint"},{"key":"ref5","article-title":"gradSim: Differentiable simulation for system identification and visuomotor control","volume-title":"International Conference on Learning Representations","author":"Murthy","year":"2021"},{"key":"ref6","article-title":"Dynamic visual reasoning by learning differentiable physics models from video and language","author":"Ding","year":"2021","journal-title":"Advances In Neural Information Processing Systems"},{"key":"ref7","first-page":"127","article-title":"Galileo: Perceiving physical object properties by integrating a physics engine with deep learning","author":"Wu","year":"2015","journal-title":"Advances in Neural Information Processing Systems"},{"key":"ref8","article-title":"ScrewNet: Category-independent articulation model estimation from depth images using screw theory","author":"Jain","year":"2020","journal-title":"arXiv preprint"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139655"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460596"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942902"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1613\/jair.3229"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139383"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2953894"},{"key":"ref15","article-title":"Distributional depth-based estimation of object articulation models","volume-title":"5th Annual Conference on Robot Learning","author":"Jain","year":"2021"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.01276"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.00366"},{"key":"ref18","first-page":"4502","article-title":"Interaction networks for learning about objects, relations and physics","author":"Battaglia","year":"2016","journal-title":"Advances in Neural Information Processing Systems"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2019.xv.046"},{"journal-title":"Learning to simulate complex physics with graph networks","year":"2020","author":"Sanchez-Gonzalez","key":"ref20"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.jcp.2018.10.045"},{"key":"ref22","article-title":"Deep Lagrangian networks: Using physics as model prior for deep learning","author":"Lutter","year":"2019","journal-title":"arXiv preprint"},{"key":"ref23","first-page":"804","article-title":"Encoding physical constraints in differentiable Newton-Euler algorithm","volume-title":"ser. Proceedings of Machine Learning Research","volume":"120","author":"Sutanto"},{"key":"ref24","first-page":"7178","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":"ref25","article-title":"Scalable differentiable physics for learning and control","author":"Qiao","year":"2020","journal-title":"ICML"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1145\/3414685.3417766"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197138"},{"volume-title":"Detectron2","year":"2019","author":"Wu","key":"ref28"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1145\/3414685.3417861"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560935"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4899-7560-7"},{"key":"ref33","article-title":"Probabilistic inference of simulation parameters via parallel differentiable simulation","volume":"abs\/2109.08815","author":"Heiden","year":"2021","journal-title":"CoRR"},{"issue":"49","key":"ref34","first-page":"5","article-title":"Bullet physics library","volume":"15","author":"Coumans","year":"2013","journal-title":"Open source: bullet-physics.org"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-32494-1_4"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1086\/670067"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1007\/BF01587686"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-10602-1_48"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1111\/cgf.12538"},{"key":"ref40","article-title":"Disentangling physical dynamics from unknown factors for unsupervised video prediction","volume-title":"CoRR","volume":"abs\/2003.01460","author":"Guen","year":"2020"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989202"}],"event":{"name":"2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","start":{"date-parts":[[2022,10,23]]},"location":"Kyoto, Japan","end":{"date-parts":[[2022,10,27]]}},"container-title":["2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9981026\/9981028\/09981687.pdf?arnumber=9981687","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,2,1]],"date-time":"2024-02-01T04:17:11Z","timestamp":1706761031000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9981687\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,10,23]]},"references-count":41,"URL":"https:\/\/doi.org\/10.1109\/iros47612.2022.9981687","relation":{},"subject":[],"published":{"date-parts":[[2022,10,23]]}}}