EgoPhys: Estimating Peak Contact Force and Mechanical Work from Egocentric Manipulation Video
Physically grounded manipulation of articulated objects requires understanding both the maximum forces encountered during contact and the work performed as their parts move. Peak contact force and mechanical work quantify these complementary aspects, but estimating them from egocentric video is challenging because physical interaction cues are local and indirect. Moreover, peak force is associated with brief contact events, whereas mechanical work depends on force-motion coupling throughout the contact duration. To address these challenges, we propose EgoPhys, an RGB-only framework comprising Contact-Aware Spatial Aggregation (CASA) and Target-Specific Multi-Expert Temporal Routing (TMTR)...
| Authors | Zhuo Dong, Jianhua Yang, Haohao Li et al. |
|---|---|
| Primary category | cs.CV |
| Published | 8 October 2026 |
| Last updated at source | 8 October 2026 |
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