Abstract: Physical common sense plays an essential role in the cognition abilities of robots for human-robot interaction. Machine learning methods have shown promising results on physical commonsense learning in natural language processing but still suffer from model generalization. In this paper, we formulate physical commonsense learning as a knowledge graph completion problem to better use the latent relationships among training samples. Compared with completing general knowledge graphs, completing a physical commonsense knowledge graph has three unique characteristics: training data are scarce, not all facts can be mined from existing texts, and the number of relationships is small. To deal with these problems, we first use a pre-training language model BERT to augment training data, and then employ constrained tucker factorization to model complex relationships by constraining types and adding negative relationships. We compare our method with existing state-of-the-art knowledge graph embedding methods and show its superior performance.