Learning Flexible Body Collision Dynamics with Hierarchical Contact Mesh Transformer - Yu, Youn-Yeol; Choi, Jeongwhan; Cho, Woojin; Lee, Kookjin; Kim, Nayong; Chang, Kiseok; Woo, ChangSeung; KIM, ILHO; Lee, SeokWoo; Yang, Joon Young; YOON, SOOYOUNG; Park, Noseong (International Conference on Learning Representations, 2024)