Pith Number

pith:XALDECEO

pith:2026:XALDECEOWY5G6FCTK7CYNBLTIY

not attested not anchored not stored refs pending

Novel Algorithms for Smoothly Differentiable and Efficiently Vectorizable Contact Manifold Construction

Andreas Ren\'e Geist, Anselm Paulus, Georg Martius, Onur Beker

Analytical signed distance function primitives and a novel manifold routine make collision detection smoothly differentiable and massively vectorizable.

arxiv:2604.17538 v2 · 2026-04-19 · cs.RO

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\usepackage{pith}
\pithnumber{XALDECEOWY5G6FCTK7CYNBLTIY}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

a method that can address the collision detection part of the puzzle in a manner that is smoothly differentiable and massively vectorizable. This is achieved via two contributions: i) a highly expressive class of analytical SDF primitives that can efficiently represent complex 3D surfaces, ii) a novel contact manifold generation routine that makes use of this geometry representation.

C2weakest assumption

That the new SDF primitives and manifold routine can be composed with existing contact dynamics and time-integration modules without reintroducing non-differentiability or prohibitive computational cost.

C3one line summary

New analytical SDF primitives and contact manifold generation enable smoothly differentiable and vectorizable collision detection for robot dynamics.

Receipt and verification

First computed	2026-05-26T01:03:30.540561Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b81632088eb63a6f145357c586857346384dcf910812aee885eb5f6bfbe6ecf3

Aliases

arxiv: 2604.17538 · arxiv_version: 2604.17538v2 · doi: 10.48550/arxiv.2604.17538 · pith_short_12: XALDECEOWY5G · pith_short_16: XALDECEOWY5G6FCT · pith_short_8: XALDECEO

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/XALDECEOWY5G6FCTK7CYNBLTIY \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: b81632088eb63a6f145357c586857346384dcf910812aee885eb5f6bfbe6ecf3

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9c1e58ee12fc572a0b7ab116730729c08b6dac31dde5ed839173f8e1b024c1fb",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-19T16:58:09Z",
    "title_canon_sha256": "1c216e3f66e9b4eb85dbbab7b7abf68a5060a5b961b321092e5fd330b3d3b64f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.17538",
    "kind": "arxiv",
    "version": 2
  }
}