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

arXiv:2610.12333 · cs.CV, cs.AI, cs.GR, cs.LG · Submitted 2026-10-08 · Read on arXiv

cs.CV, cs.AI, cs.GR, cs.LG

Submitted: 2026-10-08

Updated: 2026-10-08

Terminology

• Transformer — 15× in this paper · explained in 2 episodes
• Fidelity — 13× in this paper · explained in 2 episodes
• Accuracy — 12× in this paper · explained in 1 episode
• Benchmark — 11× in this paper · explained in 2 episodes
• World Model — 11× in this paper · explained in 7 episodes
• Generalization — 9× in this paper · explained in 13 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Alignment — 4× in this paper · explained in 1 episode
• Conference on Computer Vision and Pattern Recognition — 3× in this paper
• Embeddings — 3× in this paper · explained in 2 episodes
• International Conference on Learning Representations — 3× in this paper
• Aggregation — 2× in this paper · explained in 1 episode
• Consistency — 2× in this paper · explained in 3 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Latent Dynamics — 2× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 2× in this paper · explained in 2 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Computational overhead — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Self-Supervised Learning — 1× in this paper · explained in 8 episodes

Sources

• Cosmos World Foundation Model Platform for Physical AI
• A Compositional Object-Based Approach to Learning Physical Dynamics
• RigidFormer: Learning Rigid Dynamics using Transformers
• Mastering Diverse Domains through World Models
• Causal World Modeling for Robot Control
• Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids
• RoboFlow4D: A Lightweight Flow World Model Toward Real-Time Flow-Guided Robotic Manipulation
• Learning Mesh-Based Simulation with Graph Networks
• World Action Models are Zero-shot Policies
• DINO-WM: World Models on Pre-trained Visual Features enable Zero-shot Planning

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