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Shake to Learn: Dynamic Interrogation of Hidden Object Physics for Robotic Manipulation with Physical Reservoir Computing

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

Many physical properties relevant to robotic manipulation are hidden from vision. A sealed object, for example, may reveal little about its center of mass (COM) or internal contents until it is lifted, shaken, or otherwise dynamically perturbed. This study shows that such interactions can enable a new modality of robotic perception and learning, in which interaction-induced dynamic responses are used to infer object physics that is inaccessible to conventional sensing. We implement this idea using an origami-inspired soft robotic arm that functions as a physical reservoir computer. After grasp

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