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MetaPusher: Meta Learning and Planning for Nonprehensile Manipulation of Unseen Objects with Rapid Online Adaption

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Manipulating previously unseen objects remains challenging, as their dynamics depend on latent physical properties, such as friction and mass distribution, that cannot be inferred from perception alone. Prior experience across objects can provide an initial estimate of unseen object dynamics, but this estimate remains uncertain and can degrade further during sim-to-real transfer. Adapting the dynamics through interaction can progressively refine the estimation, however, updating the model may invalidate the planned trajectory. Successful and efficient manipulation therefore requires both rapid

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