STATERA: Hidden Mass Estimation via Zero-Shot Sim-to-Real Kinematics using Frozen Temporal Tubelets

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.