Learning to Explore Hidden Kinematics for Articulated Object Manipulation

arXiv:2609.36553 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Project page: https://hiddenkinematics.github.io

Terminology

• Affordance — 8× in this paper · explained in 1 episode
• Reinforcement Learning — 8× in this paper · explained in 4 episodes
• Active Perception — 4× in this paper · explained in 2 episodes
• Information Gain — 4× in this paper · explained in 2 episodes
• Accuracy — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Distillation — 3× in this paper · explained in 2 episodes
• Point Clouds — 3× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Actor — 2× in this paper · explained in 3 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Zero-Shot Transfer — 2× in this paper · explained in 4 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Actionability — 1× in this paper · explained in 3 episodes
• Active Exploration — 1× in this paper · explained in 2 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Computer Vision and Pattern Recognition — 1× in this paper
• Cosine Similarity — 1× in this paper · explained in 3 episodes
• Digital Twin — 1× in this paper · explained in 5 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Fisher Information — 1× in this paper · explained in 3 episodes
• Intrinsic Dimension — 1× in this paper · explained in 2 episodes
• System Identification — 1× in this paper · explained in 3 episodes

Sources

• FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation
• Proximal Policy Optimization Algorithms

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