IRIS: A Real-World Benchmark for Inverse Recovery and Identification of Physical Dynamic Systems from Monocular Video

Rasul Khanbayov^*, Mohamed Rayan Barhdadi^*, Erchin Serpedin, Hasan Kurban

^*Equal contribution

Accepted to ECCV 2026 and 1,100+ Downloads 🎉

We introduce IRIS, a real-world benchmark of 240 high resolution videos across 8 physical dynamics classes, each with precisely measured ground-truth parameters. IRIS enables standardized evaluation of unsupervised physical parameter estimation from monocular video, covering single and multi-body systems.

Dropping Ball

Falling Ball

Sliding Cone

Pendulum

Rotation

Hitting Cones

Two Moving Pendulums

Two Pendulums (One Static)

Key Contributions

240-Video Real-World Benchmark

4K videos of single and multi-body physical systems with precisely measured ground-truth parameters, not estimated from simulations.

Standardized Evaluation Protocol

Evaluation criteria for parameter accuracy, identifiability, extrapolation capability, robustness to noise, and equation-family selection accuracy.

Equation-Family Selection

Four strategies for automatically identifying which ODE governs the observed dynamics, including VLM-based and classifier-based approaches, are benchmarked head-to-head.

Physics-Informed Baselines

Full baseline implementations with 1-step and multi-step physics loss, unified single/multi-body model, and a corrected gradient-compatible Euler integrator.

The IRIS Dataset

240

Real-World Videos

Dynamics Classes

Measured Parameters

Resolution

Dynamics Class	Physical System	Estimated Parameters
dropping_ball	Ball released from rest under gravity	gravitational acceleration g
falling_ball	Projectile / free-falling ball	gravitational acceleration g
sliding_cone	Cone sliding on an inclined surface	friction coefficient μ
pendulum	Single pendulum oscillation	rope length, damping coefficient
rotation	Rotating object (fixed camera)	camera-to-object distance
hitting_cones	Collision between cones	friction / restitution params
two_moving_pendulums	Two independently swinging pendulums	rope lengths, damping
two_moving_pendulum_one_static	Two-pendulum system, one at rest	rope lengths, coupling

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Cite

@misc{khanbayov2026iris,
  title={IRIS: A Real-World Benchmark for Inverse Recovery and Identification of Physical Dynamic Systems from Monocular Video},
  author={Rasul Khanbayov and Mohamed Rayan Barhdadi and Erchin Serpedin and Hasan Kurban},
  year={2026},
  eprint={2603.16432},
  archivePrefix={arXiv},
  primaryClass={cs.CV},
  url={https://arxiv.org/abs/2603.16432},
}