EGODE: An Event-attended Graph ODE Framework for Modeling Rigid Dynamics

This paper studies the problem of rigid dynamics modeling, which has a wide range of applications in robotics, graphics, and mechanical design. The problem is partly solved by graph neural network (GNN) simulators. However, these approaches cannot effectively handle the relationship between intrinsic continuity and instantaneous changes in rigid dynamics. In this paper, we propose a novel approach named Event-attend Graph ODE (EGODE) for effective rigid dynamics modeling. In particular, we describe the rigid system using both mesh node representations and object representations.