How to caculate the ground truth of the physical parameters in reality?

[avaa999]

Hi! Thank you for providing such a perfect job. While reading your paper, I'm curious how you obtain the values of the physical parameters, such as stiffness and friction?

[Boey-li]

Thank you for your interest in our work!

We describe our approach for obtaining the values of the physical parameters in Section III-C (Few-Shot Physical Property Adaptation) of the paper. In short, we utilize few-shot curiosity-driven interaction combined with gradient-free optimization techniques like Bayesian Optimization or CMA-ES to estimate the physical properties.

The code is also available—please refer to the "Inference and Planning" section in the README.md for more details.