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