RiCo: Neural Simulation of Rigid-Body Interactions via Local Contact Reasoning
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 phy...
| Authors | Ruixiang Ouyang, Guanren Qiao, Fansen Meng et al. |
|---|---|
| Primary category | cs.CV |
| Published | 8 October 2026 |
| Last updated at source | 8 October 2026 |
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