EgoPhys: Estimating Peak Contact Force and Mechanical Work from Egocentric Manipulation Video

arXiv:2610.11347 · cs.CV · Submitted 2026-10-08 · Read on arXiv

cs.CV

Submitted: 2026-10-08

Updated: 2026-10-08

Terminology

• Aggregation — 6× in this paper · explained in 1 episode
• Ablation — 3× in this paper · explained in 1 episode
• Contact-Aware Spatial Aggregation — 3× in this paper
• Target-Specific Multi-Expert Temporal Routing — 2× in this paper
• alpha — 2× in this paper · explained in 1 episode
• Ablation Studies — 1× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Generalization — 1× in this paper · explained in 13 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection
• ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation
• Sparsh: Self-supervised touch representations for vision-based tactile sensing
• DINOv3
• Depth Anything 3: Recovering the Visual Space from Any Views

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