Rollouts of trained P01 networks (epoch 20 of the 24-hour regime), drawn on the tet surface that the
tet-surface contact detects on, not on the carrier cells. A triangle turns red while one of its vertices owns an
active contact row: a floor, static-face or division-plane row with a gap below the contact radius r = 0.5 cell.
The videos play at one third of real time. The two asset arms use the first library (vertex occupancy rule);
no arm on the overlap library has trained yet. "Penetration" is the rollout diagnostic in units of r.
Stack of three cuboids, two dropped on it, three bars thrown at it The v5 demo scene: a stack of 14x5x8, 10x5x7 and 8x4x6 cells; a 12x4x4 bar (tilted 10 deg) and a 9x4x6 block dropped from 0.25 m above the stack; a 12x4x5 bar, a 10x4x4 bar and a 14x4x4 bar thrown at 0.85 m/s. E = 3-4e5 Pa, kappa 30, friction 0.5, open floor, 2 s. 8 bodies, 4236 surface triangles, kappa 30, 600/600 steps; max penetration 0.41 r, inverted cells at the end 0, most contact faces in one frame 764Random cuboids on the open floor (kappa 10-50) The v5 generator: free cuboids of 5-9 cells per side with random pose and material, 35 % placed at rest, a shared drift of 0.4-0.8 m/s, no walls, 1.5 s. 5 bodies, 3576 surface triangles, kappa 39, 450/450 steps; max penetration 0.04 r, inverted cells at the end 0, most contact faces in one frame 646Random voxel bodies in the well, soft contact (kappa 10-100) The v6 generator: free voxel bodies from the run's shape library inside the four-wall well, 35 % placed at rest, drift 0.4-0.8 m/s, 1.5 s. 2 bodies, 9860 surface triangles, kappa 10, 450/450 steps; max penetration 0.16 r, inverted cells at the end 0, most contact faces in one frame 562Random voxel bodies in the well, stiff contact (kappa 100-1000) As the soft scene with a stiff contact draw: the regime where the pile can collapse by inversion. 2 bodies, 3980 surface triangles, kappa 191, 450/450 steps; max penetration 0.00 r, inverted cells at the end 0, most contact faces in one frame 0Asset bodies piled in the well (kappa 30-300) The v6 generator at 9000 cells with the run's own bodies: six to eight library meshes of an asset run, voxel shapes of lattice tets for a lattice run; 35 % placed at rest, drift 0.4-0.8 m/s, four-wall well, 1.5 s. Tet runs only (2026-10-15): the collisions of whole tet surfaces. 6 bodies, 14706 surface triangles, kappa 154, 450/450 steps; max penetration 0.09 r, inverted cells at the end 0, most contact faces in one frame 312Training-style scene: pinned bodies, contact faces, well The run's own scene mix at 3000 cells: pinned bodies held at their pose, static contact faces, the well, the run's material band and drift, 1 s. 2 bodies, 8606 surface triangles, kappa 926, 300/300 steps; max penetration 0.05 r, inverted cells at the end 0, most contact faces in one frame 12
Stack of three cuboids, two dropped on it, three bars thrown at it The v5 demo scene: a stack of 14x5x8, 10x5x7 and 8x4x6 cells; a 12x4x4 bar (tilted 10 deg) and a 9x4x6 block dropped from 0.25 m above the stack; a 12x4x5 bar, a 10x4x4 bar and a 14x4x4 bar thrown at 0.85 m/s. E = 3-4e5 Pa, kappa 30, friction 0.5, open floor, 2 s. 8 bodies, 4236 surface triangles, kappa 30, 600/600 steps; max penetration 1.00 r, inverted cells at the end 0, most contact faces in one frame 1668Random cuboids on the open floor (kappa 10-50) The v5 generator: free cuboids of 5-9 cells per side with random pose and material, 35 % placed at rest, a shared drift of 0.4-0.8 m/s, no walls, 1.5 s. 5 bodies, 3576 surface triangles, kappa 39, 450/450 steps; max penetration 0.48 r, inverted cells at the end 0, most contact faces in one frame 996Random voxel bodies in the well, soft contact (kappa 10-100) The v6 generator: free voxel bodies from the run's shape library inside the four-wall well, 35 % placed at rest, drift 0.4-0.8 m/s, 1.5 s. 2 bodies, 9860 surface triangles, kappa 10, 450/450 steps; max penetration 0.20 r, inverted cells at the end 0, most contact faces in one frame 759Random voxel bodies in the well, stiff contact (kappa 100-1000) As the soft scene with a stiff contact draw: the regime where the pile can collapse by inversion. 2 bodies, 3980 surface triangles, kappa 191, 450/450 steps; max penetration 0.00 r, inverted cells at the end 0, most contact faces in one frame 0Asset bodies piled in the well (kappa 30-300) The v6 generator at 9000 cells with the run's own bodies: six to eight library meshes of an asset run, voxel shapes of lattice tets for a lattice run; 35 % placed at rest, drift 0.4-0.8 m/s, four-wall well, 1.5 s. Tet runs only (2026-10-15): the collisions of whole tet surfaces. 6 bodies, 14706 surface triangles, kappa 154, 450/450 steps; max penetration 1.00 r, inverted cells at the end 2, most contact faces in one frame 1617Training-style scene: pinned bodies, contact faces, well The run's own scene mix at 3000 cells: pinned bodies held at their pose, static contact faces, the well, the run's material band and drift, 1 s. 2 bodies, 8606 surface triangles, kappa 926, 300/300 steps; max penetration 0.03 r, inverted cells at the end 0, most contact faces in one frame 56
D1L: lattice tets, division planes (epoch 20)
Stack of three cuboids, two dropped on it, three bars thrown at it The v5 demo scene: a stack of 14x5x8, 10x5x7 and 8x4x6 cells; a 12x4x4 bar (tilted 10 deg) and a 9x4x6 block dropped from 0.25 m above the stack; a 12x4x5 bar, a 10x4x4 bar and a 14x4x4 bar thrown at 0.85 m/s. E = 3-4e5 Pa, kappa 30, friction 0.5, open floor, 2 s. 8 bodies, 4236 surface triangles, kappa 30, 600/600 steps; max penetration 0.36 r, inverted cells at the end 0, most contact faces in one frame 658Random cuboids on the open floor (kappa 10-50) The v5 generator: free cuboids of 5-9 cells per side with random pose and material, 35 % placed at rest, a shared drift of 0.4-0.8 m/s, no walls, 1.5 s. 5 bodies, 3576 surface triangles, kappa 39, 450/450 steps; max penetration 0.04 r, inverted cells at the end 0, most contact faces in one frame 423Random voxel bodies in the well, soft contact (kappa 10-100) The v6 generator: free voxel bodies from the run's shape library inside the four-wall well, 35 % placed at rest, drift 0.4-0.8 m/s, 1.5 s. 7 bodies, 5832 surface triangles, kappa 10, 450/450 steps; max penetration 0.13 r, inverted cells at the end 0, most contact faces in one frame 632Random voxel bodies in the well, stiff contact (kappa 100-1000) As the soft scene with a stiff contact draw: the regime where the pile can collapse by inversion. 2 bodies, 3980 surface triangles, kappa 191, 450/450 steps; max penetration 0.00 r, inverted cells at the end 0, most contact faces in one frame 0Asset bodies piled in the well (kappa 30-300) The v6 generator at 9000 cells with the run's own bodies: six to eight library meshes of an asset run, voxel shapes of lattice tets for a lattice run; 35 % placed at rest, drift 0.4-0.8 m/s, four-wall well, 1.5 s. Tet runs only (2026-10-15): the collisions of whole tet surfaces. 21 bodies, 18420 surface triangles, kappa 154, 450/450 steps; max penetration 1.00 r, inverted cells at the end 26, most contact faces in one frame 1772Training-style scene: pinned bodies, contact faces, well The run's own scene mix at 3000 cells: pinned bodies held at their pose, static contact faces, the well, the run's material band and drift, 1 s. 9 bodies, 6312 surface triangles, kappa 926, 300/300 steps; max penetration 0.66 r, inverted cells at the end 0, most contact faces in one frame 584
K2L: lattice tets, coupled constraint, world edges (epoch 20)
Stack of three cuboids, two dropped on it, three bars thrown at it The v5 demo scene: a stack of 14x5x8, 10x5x7 and 8x4x6 cells; a 12x4x4 bar (tilted 10 deg) and a 9x4x6 block dropped from 0.25 m above the stack; a 12x4x5 bar, a 10x4x4 bar and a 14x4x4 bar thrown at 0.85 m/s. E = 3-4e5 Pa, kappa 30, friction 0.5, open floor, 2 s. 8 bodies, 4236 surface triangles, kappa 30, 600/600 steps; max penetration 1.00 r, inverted cells at the end 0, most contact faces in one frame 1599Random cuboids on the open floor (kappa 10-50) The v5 generator: free cuboids of 5-9 cells per side with random pose and material, 35 % placed at rest, a shared drift of 0.4-0.8 m/s, no walls, 1.5 s. 5 bodies, 3576 surface triangles, kappa 39, 450/450 steps; max penetration 0.47 r, inverted cells at the end 0, most contact faces in one frame 683Random voxel bodies in the well, soft contact (kappa 10-100) The v6 generator: free voxel bodies from the run's shape library inside the four-wall well, 35 % placed at rest, drift 0.4-0.8 m/s, 1.5 s. 7 bodies, 5832 surface triangles, kappa 10, 450/450 steps; max penetration 1.00 r, inverted cells at the end 0, most contact faces in one frame 844Random voxel bodies in the well, stiff contact (kappa 100-1000) As the soft scene with a stiff contact draw: the regime where the pile can collapse by inversion. 2 bodies, 3980 surface triangles, kappa 191, 450/450 steps; max penetration 0.00 r, inverted cells at the end 0, most contact faces in one frame 0Asset bodies piled in the well (kappa 30-300) The v6 generator at 9000 cells with the run's own bodies: six to eight library meshes of an asset run, voxel shapes of lattice tets for a lattice run; 35 % placed at rest, drift 0.4-0.8 m/s, four-wall well, 1.5 s. Tet runs only (2026-10-15): the collisions of whole tet surfaces. 21 bodies, 18420 surface triangles, kappa 154, 450/450 steps; max penetration 1.03 r, inverted cells at the end 17, most contact faces in one frame 3086Training-style scene: pinned bodies, contact faces, well The run's own scene mix at 3000 cells: pinned bodies held at their pose, static contact faces, the well, the run's material band and drift, 1 s. 9 bodies, 6312 surface triangles, kappa 926, 300/300 steps; max penetration 0.66 r, inverted cells at the end 2, most contact faces in one frame 584