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[Submitted on 21 May 2026] Title:STATERA: Hidden Mass Estimation via Zero-Shot Sim-to-Real Kinematics using Frozen Temporal Tubelets View a PDF of the paper titled STATERA: Hidden Mass Estimation via Zero-Shot Sim-to-Real Kinematics using Frozen Temporal Tubelets, by Animesh Varma View PDF HTML (experimental) Abstract:Vision models pretrained for frame-level appearance often struggle to infer hidden physical properties from motion. We study center-of-mass (CoM) localization for opaque, asymmetric rigid bodies from short monocular videos, where surface cues and point tracking are unreliable under self-occlusion. We propose STATERA, which adapts a pretrained video backbone (V-JEPA) with mostly frozen weights and a lightweight temporal tubelet mixer to predict per-frame CoM heatmaps and trajectories. To support this task, we introduce the HiddenMass Benchmark, comprising 50K MuJoCo trajectories and a 63-sequence real-world test set with physically calibrated CoM ground truth. In simulation, STATERA-50K-Sigma improves normalized CoM error from 41.7% (DINOv2) to 25.2%. In zero-shot sim-to-real transfer, we observe a fundamental trade-off in supervision: phase-aware targets can induce bimodal predictions, while phase-agnostic targets can collapse toward statistically safe centroids. Nevertheless, our phase-aware STATERA-50K-Crescent is the only evaluated method that demonstrates consistent movement toward the true hidden offset. While this leads to a monocular vector overshoot artifact that marginally increases absolute Euclidean error compared to a static geometric centroid, it improves physics capture from 2.6% to 41.0%. These results suggest that frozen temporal representations can better separate inertial dynamics from visual geometry for hidden-parameter estimation. Comments: 17 pages, 7 figures, 3 tables. Preprint Subjects: Computer Vision and Pattern Recognition (cs.CV); Artificial Intelligence (cs.AI); Machine Learning (cs.LG); Robotics (cs.RO) Cite as: arXiv:2610.00003 [cs.CV] (or arXiv:2610.00003v1 [cs.CV] for this version) https://doi.org/10.48550/arXiv.2610.00003 arXiv-issued DOI via DataCite Submission history From: Animesh Varma [view email] [v1] Thu, 21 May 2026 20:25:20 UTC (2,795 KB) Full-text links: Access Paper: View a PDF of the paper titled STATERA: Hidden Mass Estimation via Zero-Shot Sim-to-Real Kinematics using Frozen Temporal Tubelets, by Animesh Varma View PDF HTML (experimental) TeX Source view license Current browse context: cs.CV new | recent | 2026-10 Change to browse by: cs cs.AI cs.LG cs.RO 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?)