AINeutralarXiv – CS AI · 10h ago6/10
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RigidFormer: Learning Rigid Dynamics using Transformers
RigidFormer is a Transformer-based neural network that learns rigid-body dynamics simulation from mesh-free point cloud inputs, addressing computational bottlenecks in existing mesh-dependent methods. The model uses object-level reasoning with anchor-based attention mechanisms and enforces physical rigidity constraints through differentiable Kabsch alignment, demonstrating superior performance and generalization across benchmarks.