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

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

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

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