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[Submitted on 17 Sep 2026] Title:Shake to Learn: Dynamic Interrogation of Hidden Object Physics for Robotic Manipulation with Physical Reservoir Computing View a PDF of the paper titled Shake to Learn: Dynamic Interrogation of Hidden Object Physics for Robotic Manipulation with Physical Reservoir Computing, by Wen Sin Lor and 2 other authors View PDF HTML (experimental) Abstract: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 grasping an object, the arm is excited by a fixed shaking input at its base, and the resulting ringdown response is recorded through either camera tracking or embedded sensors. Because the input is held constant across trials, hidden object properties, such as the COM position, are encoded through their effect on the dynamics of the coupled robot-object system. A lightweight linear readout can then decode these dynamics to recover interpretable information about the hidden object physics. Using this framework, the soft robotic arm reservoir completed three tasks of increasing difficulty: inferring the orientation of the object's hidden COM, inferring the COM distance from the grasp point, and using the inferred COM information to guide a subsequent regrasp. We further develop a dynamic summary representation of the ringdown response that improves prediction accuracy. Together, these results establish shake-to-learn mechanical interrogation as a promising strategy for robotic systems to convert brief physical interactions into actionable cues about hidden object properties for downstream manipulation. Comments: 17 pages, 6 figures Subjects: Robotics (cs.RO) MSC classes: I.2.9 Cite as: arXiv:2609.20970 [cs.RO] (or arXiv:2609.20970v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.20970 arXiv-issued DOI via DataCite (pending registration) Submission history From: Wen Sin Lor [view email] [v1] Thu, 17 Sep 2026 18:26:49 UTC (27,999 KB) Full-text links: Access Paper: View a PDF of the paper titled Shake to Learn: Dynamic Interrogation of Hidden Object Physics for Robotic Manipulation with Physical Reservoir Computing, by Wen Sin Lor and 2 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)