ForceTwin 系统通过人机交互识别物体物理属性

在 Spot 和 Franka FR3 机器人上测试时，目标完成率提升至 87%，显著高于使用视觉语言模型或仅运动学模型的基准。

ForceTwin: Physics-informed Digital Twins for Robotic Manipulation from Instrumented Human Interaction

Manipulating objects requires understanding not only their motion, but also the physical properties that determine it. For articulated objects, these include inertia, friction, and mechanisms such as springs or door closers, whose effects can vary with configuration and velocity. Such properties are not directly observable from appearance: visually identical doors may require very different effort to manipulate. Existing digital-twin pipelines recover primarily kinematics or assign static physical parameters from visual and language priors, which can yield physically implausible estimates. As a result, state-dependent mechanism dynamics remain unidentified and are not represented in standard asset formats. We present ForceTwin, a system for identifying physics-informed digital twins of articulated objects from instrumented human interaction. A person probes an object using a handheld force-sensing gripper, providing synchronized poses and interaction forces from which we estimate the articulation, parametric dynamics including inertia, Coulomb friction, viscous damping, and a structured neural residual capturing state-dependent mechanism forces. ForceTwin nearly halves the inertial-parameter error of a VLM prior. As a feedforward dynamics model for impedance control on a Spot and a Franka FR3, ForceTwin achieves 87% goal completion across nine object-embodiment pairs, compared with 60% using VLM-prior and 57% using kinematics-only twins, with the largest gains on objects whose strong mechanisms cause both baselines to stall. We further use the identified twins to train whole-body door-traversal policies and deploy them in the real world. Project Page: https://timengelbracht.github.io/forcetwin-website/

本条情报归属 AITOP「模型」核心栏目，重点聚焦北美前沿实验室与硅谷科技巨头。在跨区域产业观察坐标中，该动态直接关联「AI 开发者工具链、Coding Agent 与工程化实践」「中美大模型技术代差与商业化对照」研究主线，反映出当前技术演进与商业落地的最新风向。涉及核心实体与技术议题包括：ForceTwin、物理属性、机器人操作，读者可通过下方标签进入对应专题页查阅历史脉络与关联对比。

信源核验说明：本文原始线索采编自「arXiv cs.AI」（@Tim Engelbracht, René Zurbrügg, Mayank Mittal, Marco Hutter, Marc Pollefeys, Hermann Blum, Zuria Bauer），经 AITOP 多维评分管线结构化提炼。