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Learning-based dynamics models provide an alternative by deriving state transition functions purely from perceived interaction data, enabling the capture of complex, hard-to-model factors and predictive uncertainty and accelerating simulations that are often too slow for real-time control. Recent successes in this field have demonstrated notable advancements in robot capabilities, including long-horizon manipulation of deformable objects, granular materials, and complex multiobject interactions such as stowing and packing. A crucial aspect of these investigations is the choice of state representation, which determines the inductive biases in the learning system for reduced-order modeling of scene dynamics. This article provides a timely and comprehensive review of current techniques and trade-offs in designing learned dynamics models, highlighting their role in advancing robot capabilities through integration with state estimation and control and identifying critical research gaps for future exploration.<\/jats:p>","DOI":"10.1126\/scirobotics.adt1497","type":"journal-article","created":{"date-parts":[[2025,9,17]],"date-time":"2025-09-17T17:58:18Z","timestamp":1758131898000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":15,"title":["A review of learning-based dynamics models for robotic manipulation"],"prefix":"10.1126","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9009-3823","authenticated-orcid":true,"given":"Bo","family":"Ai","sequence":"first","affiliation":[{"name":"Department of Computer Science and Engineering, University of California San Diego, La Jolla, CA 92093, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3148-5541","authenticated-orcid":true,"given":"Stephen","family":"Tian","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Stanford University, Stanford, CA 94305, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3604-465X","authenticated-orcid":true,"given":"Haochen","family":"Shi","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Stanford University, Stanford, CA 94305, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-6641-4718","authenticated-orcid":true,"given":"Yixuan","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Columbia University, New York, NY 10027, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9201-4949","authenticated-orcid":true,"given":"Tobias","family":"Pfaff","sequence":"additional","affiliation":[{"name":"Google DeepMind, London N1C 4DN, UK."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1248-4906","authenticated-orcid":true,"given":"Cheston","family":"Tan","sequence":"additional","affiliation":[{"name":"Centre for Frontier AI Research, A*STAR, Singapore 138632, Singapore."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7465-7502","authenticated-orcid":true,"given":"Henrik I.","family":"Christensen","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Engineering, University of California San Diego, La Jolla, CA 92093, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1796-2682","authenticated-orcid":true,"given":"Hao","family":"Su","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Engineering, University of California San Diego, La Jolla, CA 92093, USA."},{"name":"Hillbot, La Jolla, CA 92093, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4176-343X","authenticated-orcid":true,"given":"Jiajun","family":"Wu","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Stanford University, Stanford, CA 94305, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1111-2150","authenticated-orcid":true,"given":"Yunzhu","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Columbia University, New York, NY 10027, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_1_2_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.1192788"},{"key":"e_1_3_1_3_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1306572110"},{"key":"e_1_3_1_4_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jvcir.2007.01.005"},{"key":"e_1_3_1_5_2","doi-asserted-by":"publisher","DOI":"10.1016\/0010-4655(94)00170-7"},{"key":"e_1_3_1_6_2","doi-asserted-by":"crossref","unstructured":"A. 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