{"id":"https://openalex.org/W7165903885","doi":"https://doi.org/10.48550/arxiv.2606.25212","title":"RigPI: Dynamic Parameter Identification of Rigid Body via VLM-Seeded Differentiable Simulation","display_name":"RigPI: Dynamic Parameter Identification of Rigid Body via VLM-Seeded Differentiable Simulation","publication_year":2026,"publication_date":"2026-06-23","ids":{"openalex":"https://openalex.org/W7165903885","doi":"https://doi.org/10.48550/arxiv.2606.25212"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.25212","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.25212","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.25212","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027856081","display_name":"Xincheng He","orcid":"https://orcid.org/0000-0001-6986-0111"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Xincheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139309333","display_name":"Rongrong Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Rongrong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139337529","display_name":"Wei Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Wei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139366244","display_name":"Wenqiang Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Wenqiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.498199999332428,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.498199999332428,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.2538999915122986,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.09099999815225601,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.7063000202178955},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6287999749183655},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.6187999844551086},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.5667999982833862},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.5386999845504761},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5288000106811523},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5181999802589417},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4553999900817871},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.450300008058548}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.7063000202178955},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6287999749183655},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.6187999844551086},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.5667999982833862},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.5386999845504761},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5288000106811523},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5246999859809875},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5181999802589417},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4553999900817871},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.450300008058548},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.446399986743927},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.41110000014305115},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4099999964237213},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3497999906539917},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.34279999136924744},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.32010000944137573},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.3091999888420105},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2976999878883362},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.29179999232292175},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2906000018119812},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2865999937057495},{"id":"https://openalex.org/C190390380","wikidata":"https://www.wikidata.org/wiki/Q62505","display_name":"Physics engine","level":2,"score":0.2842000126838684},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.2831000089645386},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2732999920845032},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.27300000190734863},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2703000009059906},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.26589998602867126},{"id":"https://openalex.org/C79610928","wikidata":"https://www.wikidata.org/wiki/Q1656743","display_name":"Parameter identification problem","level":3,"score":0.2651999890804291}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.25212","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.25212","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.25212","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.25212","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"physical":[1],"parameter":[2,105,138],"identification":[3,166],"of":[4,16,54,160],"manipulated":[5],"objects":[6,125],"is":[7],"fundamental":[8],"to":[9,34,114],"advanced":[10],"robotic":[11,164],"manipulation":[12,143],"and":[13,25,39,59,73,88,103,116,128,136,140,158],"the":[14,156],"construction":[15],"faithful":[17],"digital":[18],"twins.":[19],"However,":[20],"acquiring":[21],"physically":[22,118],"consistent":[23],"inertial":[24],"frictional":[26],"properties":[27],"from":[28,96],"real-world":[29,122,163],"interactions":[30],"remains":[31],"challenging":[32],"due":[33],"sensing":[35],"noise,":[36],"modeling":[37],"errors,":[38],"limited":[40],"prior":[41],"knowledge.":[42],"This":[43],"paper":[44],"presents":[45],"RigPI,":[46],"a":[47,77,89,97,146],"systematic":[48],"framework":[49],"for":[50,162],"identifying":[51],"dynamic":[52],"parameters":[53],"both":[55],"unconstrained":[56],"rigid":[57,61],"bodies":[58,62],"multi-link":[60],"during":[63],"robot-object":[64],"interaction.":[65],"RigPI":[66,133,161],"integrates":[67],"vision-based":[68],"semantic":[69],"priors,":[70],"force-torque":[71],"measurements,":[72],"motion":[74],"observations":[75],"within":[76],"differentiable":[78,98],"simulation":[79],"pipeline.":[80],"A":[81],"vision-language":[82],"model":[83],"(VLM)":[84],"provides":[85],"informed":[86],"initialization":[87],"constrained":[90],"search":[91],"space,":[92],"while":[93],"gradient":[94],"information":[95],"physics":[99],"simulator":[100],"enables":[101],"efficient":[102],"stable":[104,137],"refinement.":[106],"The":[107],"proposed":[108],"two-stage":[109],"optimization":[110],"strategy":[111],"alleviates":[112],"sensitivity":[113],"noise":[115],"avoids":[117],"implausible":[119],"solutions.":[120],"Extensive":[121],"experiments":[123],"on":[124,145],"with":[126,149],"revolute":[127],"prismatic":[129],"joints":[130],"demonstrate":[131],"that":[132],"achieves":[134],"accurate":[135],"estimates,":[139],"successfully":[141],"reproduces":[142],"trajectories":[144],"real":[147],"robot":[148],"parameter-aware":[150],"predictive":[151],"validity.":[152],"These":[153],"results":[154],"highlight":[155],"effectiveness":[157],"robustness":[159],"system":[165],"tasks.":[167]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-26T00:00:00"}