S4R: Scaling for Rigid-Body Interpenetration Resolution

arXiv:2609.20524 · cs.GR, cs.CG, cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.GR, cs.CG, cs.RO

Submitted: 2026-09-17

Updated: 2026-09-17

Code: https://github.com/NVIDIA/warp

Project page: https://frank-zy-dou.github.io/projects/S4R/index.html

Terminology

Benchmark — 22× in this paper · explained in 2 episodes
Ablation — 19× in this paper · explained in 1 episode
ACM Transactions on Graphics — 15× in this paper
Sparsity — 10× in this paper · explained in 4 episodes
Adaptation — 6× in this paper · explained in 1 episode
Scale of Impact — 6× in this paper
Core — 5× in this paper · explained in 2 episodes
Conference on Computer Vision and Pattern Recognition — 4× in this paper
Embodied AI — 4× in this paper · explained in 2 episodes
Accuracy — 2× in this paper · explained in 1 episode
Consistency — 2× in this paper · explained in 3 episodes
In International Conference on Learning Representations — 2× in this paper
Robustness — 2× in this paper · explained in 5 episodes
Verification — 2× in this paper · explained in 2 episodes
Benchmarking — 1× in this paper · explained in 3 episodes
Decoupling — 1× in this paper · explained in 2 episodes
Diffusion Model — 1× in this paper · explained in 8 episodes
Diffusion Models — 1× in this paper · explained in 6 episodes
Entanglement — 1× in this paper · explained in 3 episodes
Failure Modes — 1× in this paper · explained in 3 episodes
Local Optimization — 1× in this paper · explained in 2 episodes
Nadia — 1× in this paper · explained in 2 episodes
Trace — 1× in this paper · explained in 2 episodes
Transformer — 1× in this paper · explained in 2 episodes

Sources

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