{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:NKF3IWFFA337R3OIJVTI7N2VZN","short_pith_number":"pith:NKF3IWFF","schema_version":"1.0","canonical_sha256":"6a8bb458a506f7f8edc84d668fb755cb666cd434cc039abf71b3a659af65ed9d","source":{"kind":"arxiv","id":"2212.06764","version":2},"attestation_state":"computed","paper":{"title":"Single-Level Differentiable Contact Simulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Mac Schwager, Pete Florence, Simon Le Cleac'h, Sumeet Singh, Vikas Sindhwani, Zachary Manchester","submitted_at":"2022-12-13T17:46:06Z","abstract_excerpt":"We present a differentiable formulation of rigid-body contact dynamics for objects and robots represented as compositions of convex primitives. Existing optimization-based approaches simulating contact between convex primitives rely on a bilevel formulation that separates collision detection and contact simulation. These approaches are unreliable in realistic contact simulation scenarios because isolating the collision detection problem introduces contact location non-uniqueness. Our approach combines contact simulation and collision detection into a unified single-level optimization problem. "},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2212.06764","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-12-13T17:46:06Z","cross_cats_sorted":[],"title_canon_sha256":"6fc41954e58b95ddc987f2c0997d078791dc2d42d62459cf31d814cfe7b42ee8","abstract_canon_sha256":"e3fc38f1f1b1140ad54f8bf323024a370fd7f1897563ef168a4c344addff7fab"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:29:55.357191Z","signature_b64":"NWXljimRLFjcd33SBpxai3YjljcrCGV2iwi3qNXVuAqdH0AYynFz95lW/v/nN7yvILSefOf8ZP2ZXn0YCRo6Dw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6a8bb458a506f7f8edc84d668fb755cb666cd434cc039abf71b3a659af65ed9d","last_reissued_at":"2026-07-05T05:29:55.356719Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:29:55.356719Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Single-Level Differentiable Contact Simulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Mac Schwager, Pete Florence, Simon Le Cleac'h, Sumeet Singh, Vikas Sindhwani, Zachary Manchester","submitted_at":"2022-12-13T17:46:06Z","abstract_excerpt":"We present a differentiable formulation of rigid-body contact dynamics for objects and robots represented as compositions of convex primitives. Existing optimization-based approaches simulating contact between convex primitives rely on a bilevel formulation that separates collision detection and contact simulation. These approaches are unreliable in realistic contact simulation scenarios because isolating the collision detection problem introduces contact location non-uniqueness. Our approach combines contact simulation and collision detection into a unified single-level optimization problem. "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2212.06764","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2212.06764/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"aliases":[{"alias_kind":"arxiv","alias_value":"2212.06764","created_at":"2026-07-05T05:29:55.356777+00:00"},{"alias_kind":"arxiv_version","alias_value":"2212.06764v2","created_at":"2026-07-05T05:29:55.356777+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2212.06764","created_at":"2026-07-05T05:29:55.356777+00:00"},{"alias_kind":"pith_short_12","alias_value":"NKF3IWFFA337","created_at":"2026-07-05T05:29:55.356777+00:00"},{"alias_kind":"pith_short_16","alias_value":"NKF3IWFFA337R3OI","created_at":"2026-07-05T05:29:55.356777+00:00"},{"alias_kind":"pith_short_8","alias_value":"NKF3IWFF","created_at":"2026-07-05T05:29:55.356777+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/NKF3IWFFA337R3OIJVTI7N2VZN","json":"https://pith.science/pith/NKF3IWFFA337R3OIJVTI7N2VZN.json","graph_json":"https://pith.science/api/pith-number/NKF3IWFFA337R3OIJVTI7N2VZN/graph.json","events_json":"https://pith.science/api/pith-number/NKF3IWFFA337R3OIJVTI7N2VZN/events.json","paper":"https://pith.science/paper/NKF3IWFF"},"agent_actions":{"view_html":"https://pith.science/pith/NKF3IWFFA337R3OIJVTI7N2VZN","download_json":"https://pith.science/pith/NKF3IWFFA337R3OIJVTI7N2VZN.json","view_paper":"https://pith.science/paper/NKF3IWFF","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2212.06764&json=true","fetch_graph":"https://pith.science/api/pith-number/NKF3IWFFA337R3OIJVTI7N2VZN/graph.json","fetch_events":"https://pith.science/api/pith-number/NKF3IWFFA337R3OIJVTI7N2VZN/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/NKF3IWFFA337R3OIJVTI7N2VZN/action/timestamp_anchor","attest_storage":"https://pith.science/pith/NKF3IWFFA337R3OIJVTI7N2VZN/action/storage_attestation","attest_author":"https://pith.science/pith/NKF3IWFFA337R3OIJVTI7N2VZN/action/author_attestation","sign_citation":"https://pith.science/pith/NKF3IWFFA337R3OIJVTI7N2VZN/action/citation_signature","submit_replication":"https://pith.science/pith/NKF3IWFFA337R3OIJVTI7N2VZN/action/replication_record"}},"created_at":"2026-07-05T05:29:55.356777+00:00","updated_at":"2026-07-05T05:29:55.356777+00:00"}