RiCo: Neural Simulation of Rigid-Body Interactions via Local Contact Reasoning

תקציר מקורי באנגליתarXiv:2610.12333v1 Announce Type: cross Abstract: Accurate simulation of rigid-body interactions is essential for predictive physical world models. Despite recent progress in modeling object dynamics, capturing how local contacts between surfaces shape object motion remains challenging. While end-to-end world models predict interactions across entire scenes or objects, in practice, rigid-body contact is inherently local, and only nearby surfaces can directly exchange contact forces. Motivated by this observation, we introduce Rigid-body Contact Reasoning (RiCo), which represents interactions between objects through sparse neighborhoods of contact surface points. RiCo combines each point's state with the relative geometry, motion, and physical properties of nearby surfaces, then reasons acr