{"id":"https://openalex.org/W7213613271","doi":"https://doi.org/10.1145/3842510","title":"S4R: Scaling for Rigid-Body Interpenetration Resolution","display_name":"S4R: Scaling for Rigid-Body Interpenetration Resolution","publication_year":2026,"publication_date":"2026-11-09","ids":{"openalex":"https://openalex.org/W7213613271","doi":"https://doi.org/10.1145/3842510"},"language":"en","primary_location":{"id":"doi:10.1145/3842510","doi":"https://doi.org/10.1145/3842510","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3842510","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","ccf-a","cwts-core","dongbi-a","jufo-3","norway-2","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1145/3842510","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5126840750","display_name":"Zhiyang Dou","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405258931","display_name":"MIT Computer Science and Artificial Intelligence Laboratory","ror":"https://ror.org/01e85r662","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhiyang Dou","raw_affiliation_strings":["MIT Computer Science and Artificial Intelligence Laboratory, Cambriage, USA"],"raw_orcid":"https://orcid.org/0000-0003-0186-8269","affiliations":[{"raw_affiliation_string":"MIT Computer Science and Artificial Intelligence Laboratory, Cambriage, USA","institution_ids":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5159883853","display_name":"Ang Zhao","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ang Zhao","raw_affiliation_strings":["Xiamen University, Xiamen, China"],"raw_orcid":"https://orcid.org/0009-0004-4661-0530","affiliations":[{"raw_affiliation_string":"Xiamen University, Xiamen, China","institution_ids":["https://openalex.org/I191208505"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5152120793","display_name":"Chen Peng","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chen Peng","raw_affiliation_strings":["HKU, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-3102-2574","affiliations":[{"raw_affiliation_string":"HKU, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136067103","display_name":"Minghao Guo","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405258931","display_name":"MIT Computer Science and Artificial Intelligence Laboratory","ror":"https://ror.org/01e85r662","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Minghao Guo","raw_affiliation_strings":["MIT CSAIL, CAMBRIDGE, USA"],"raw_orcid":"https://orcid.org/0000-0003-3408-4997","affiliations":[{"raw_affiliation_string":"MIT CSAIL, CAMBRIDGE, USA","institution_ids":["https://openalex.org/I4405258931"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002224926","display_name":"Haixu Wu","orcid":"https://orcid.org/0000-0003-4644-0354","observed_orcids":["https://orcid.org/0000-0003-4644-0354","https://orcid.org/0009-0003-7261-0705","https://orcid.org/0009-0007-5715-0527"]},"institutions":[{"id":"https://openalex.org/I4405258931","display_name":"MIT Computer Science and Artificial Intelligence Laboratory","ror":"https://ror.org/01e85r662","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haixu Wu","raw_affiliation_strings":["MIT CSAIL, CAMBRIDGE, USA"],"raw_orcid":"https://orcid.org/0009-0007-5715-0527","affiliations":[{"raw_affiliation_string":"MIT CSAIL, CAMBRIDGE, USA","institution_ids":["https://openalex.org/I4405258931"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122815557","display_name":"Cheng Lin","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I111950717","display_name":"Macau University of Science and Technology","ror":"https://ror.org/03jqs2n27","country_code":"MO","type":"education","lineage":["https://openalex.org/I111950717","https://openalex.org/I4391767947"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Cheng Lin","raw_affiliation_strings":["MUST, Macau, China"],"raw_orcid":"https://orcid.org/0000-0002-3335-6623","affiliations":[{"raw_affiliation_string":"MUST, Macau, China","institution_ids":["https://openalex.org/I111950717"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5152134856","display_name":"Yuan Liu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yuan Liu","raw_affiliation_strings":["HKUST, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0003-2933-5667","affiliations":[{"raw_affiliation_string":"HKUST, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5152113902","display_name":"Junfeng Yao","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junfeng Yao","raw_affiliation_strings":["Xiamen University, Xiamen, China"],"raw_orcid":"https://orcid.org/0000-0002-2330-7406","affiliations":[{"raw_affiliation_string":"Xiamen University, Xiamen, China","institution_ids":["https://openalex.org/I191208505"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137414241","display_name":"Xiaohu Guo","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I162577319","display_name":"The University of Texas at Dallas","ror":"https://ror.org/049emcs32","country_code":"US","type":"education","lineage":["https://openalex.org/I162577319"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaohu Guo","raw_affiliation_strings":["The University of Texas at Dallas, Dallas, USA"],"raw_orcid":"https://orcid.org/0000-0002-7610-6923","affiliations":[{"raw_affiliation_string":"The University of Texas at Dallas, Dallas, USA","institution_ids":["https://openalex.org/I162577319"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125990129","display_name":"Wenping Wang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenping Wang","raw_affiliation_strings":["Texas A&M University, College Station, USA"],"raw_orcid":"https://orcid.org/0000-0002-2284-3952","affiliations":[{"raw_affiliation_string":"Texas A&M University, College Station, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018010391","display_name":"Wojciech Matusik","orcid":"https://orcid.org/0000-0003-0212-5643","observed_orcids":["https://orcid.org/0000-0003-0212-5643"]},"institutions":[{"id":"https://openalex.org/I4405258931","display_name":"MIT Computer Science and Artificial Intelligence Laboratory","ror":"https://ror.org/01e85r662","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wojciech Matusik","raw_affiliation_strings":["MIT CSAIL, CAMBRIDGE, USA"],"raw_orcid":"https://orcid.org/0000-0003-0212-5643","affiliations":[{"raw_affiliation_string":"MIT CSAIL, CAMBRIDGE, USA","institution_ids":["https://openalex.org/I4405258931"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"45","issue":"6","first_page":"1","last_page":"19"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.8270999789237976,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.8270999789237976,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.1363999992609024,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.011500000022351742,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-resolution","display_name":"collision resolution","score":0.5640000104904175}],"concepts":[{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.6815999746322632},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6079999804496765},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5918999910354614},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.5722000002861023},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.542900025844574},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5134000182151794},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.5055000185966492},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48910000920295715},{"id":"https://openalex.org/C4708273","wikidata":"https://www.wikidata.org/wiki/Q900222","display_name":"Quasistatic process","level":2,"score":0.4812999963760376},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.4749999940395355},{"id":"https://openalex.org/C88626702","wikidata":"https://www.wikidata.org/wiki/Q1128903","display_name":"Continuation","level":2,"score":0.4715999960899353},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.46869999170303345},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.41449999809265137},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.37929999828338623},{"id":"https://openalex.org/C2780310539","wikidata":"https://www.wikidata.org/wiki/Q12547192","display_name":"Imperfect","level":2,"score":0.36880001425743103},{"id":"https://openalex.org/C138268822","wikidata":"https://www.wikidata.org/wiki/Q1051925","display_name":"Resolution (logic)","level":2,"score":0.3610999882221222},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35989999771118164},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.3440000116825104},{"id":"https://openalex.org/C3020199158","wikidata":"https://www.wikidata.org/wiki/Q210521","display_name":"High resolution","level":2,"score":0.3398999869823456},{"id":"https://openalex.org/C80107235","wikidata":"https://www.wikidata.org/wiki/Q7162625","display_name":"Penetration (warfare)","level":2,"score":0.32839998602867126},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.31200000643730164},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.30489999055862427},{"id":"https://openalex.org/C90377204","wikidata":"https://www.wikidata.org/wiki/Q1052594","display_name":"Uniform boundedness","level":3,"score":0.304500013589859},{"id":"https://openalex.org/C135593079","wikidata":"https://www.wikidata.org/wiki/Q1750766","display_name":"Scale invariance","level":2,"score":0.30219998955726624},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.2842999994754791},{"id":"https://openalex.org/C2779538338","wikidata":"https://www.wikidata.org/wiki/Q2990590","display_name":"Completion (oil and gas wells)","level":2,"score":0.28189998865127563},{"id":"https://openalex.org/C2779010991","wikidata":"https://www.wikidata.org/wiki/Q2720909","display_name":"Artifact (error)","level":2,"score":0.2782000005245209},{"id":"https://openalex.org/C200873422","wikidata":"https://www.wikidata.org/wiki/Q5448821","display_name":"Filling-in","level":2,"score":0.274399995803833},{"id":"https://openalex.org/C2779463800","wikidata":"https://www.wikidata.org/wiki/Q5062222","display_name":"Center (category theory)","level":2,"score":0.2718999981880188},{"id":"https://openalex.org/C154815118","wikidata":"https://www.wikidata.org/wiki/Q453762","display_name":"Spinning","level":2,"score":0.27079999446868896},{"id":"https://openalex.org/C193493375","wikidata":"https://www.wikidata.org/wiki/Q1306232","display_name":"Penetration depth","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.26809999346733093},{"id":"https://openalex.org/C170122806","wikidata":"https://www.wikidata.org/wiki/Q1914828","display_name":"Linear scale","level":2,"score":0.26739999651908875},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.26510000228881836},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.263700008392334},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.2628999948501587},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.26159998774528503},{"id":"https://openalex.org/C2988430800","wikidata":"https://www.wikidata.org/wiki/Q428971","display_name":"Scaling law","level":3,"score":0.25850000977516174},{"id":"https://openalex.org/C2777894999","wikidata":"https://www.wikidata.org/wiki/Q4781758","display_name":"Approx","level":2,"score":0.25780001282691956},{"id":"https://openalex.org/C2988963302","wikidata":"https://www.wikidata.org/wiki/Q629206","display_name":"Program code","level":2,"score":0.2572000026702881}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1145/3842510","doi":"https://doi.org/10.1145/3842510","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3842510","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","ccf-a","cwts-core","dongbi-a","jufo-3","norway-2","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2609.20524","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.20524","pdf_url":"https://arxiv.org/pdf/2609.20524","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2609.20524","doi":"https://doi.org/10.48550/arxiv.2609.20524","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2609.20524","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.1145/3842510","doi":"https://doi.org/10.1145/3842510","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3842510","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","ccf-a","cwts-core","dongbi-a","jufo-3","norway-2","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320323893","display_name":"Fundo para o Desenvolvimento das Ci\u00eancias e da Tecnologia","ror":"https://ror.org/05vna4324"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7213613271.pdf","grobid_xml":"https://content.openalex.org/works/W7213613271.grobid-xml"},"referenced_works_count":54,"referenced_works":["https://openalex.org/W1685390460","https://openalex.org/W1970101292","https://openalex.org/W1975537977","https://openalex.org/W1985640101","https://openalex.org/W2004139909","https://openalex.org/W2049431120","https://openalex.org/W2049773156","https://openalex.org/W2076159000","https://openalex.org/W2082495120","https://openalex.org/W2115922137","https://openalex.org/W2123871098","https://openalex.org/W2124014126","https://openalex.org/W2142224528","https://openalex.org/W2148852797","https://openalex.org/W2157805404","https://openalex.org/W2158782408","https://openalex.org/W2256042410","https://openalex.org/W2396935036","https://openalex.org/W2769646558","https://openalex.org/W2810395763","https://openalex.org/W2889160798","https://openalex.org/W3035776964","https://openalex.org/W3035965352","https://openalex.org/W3048558702","https://openalex.org/W3048889784","https://openalex.org/W3111036211","https://openalex.org/W3173434780","https://openalex.org/W3181896412","https://openalex.org/W3184236041","https://openalex.org/W3185508278","https://openalex.org/W3201922548","https://openalex.org/W4200577407","https://openalex.org/W4249870761","https://openalex.org/W4285102264","https://openalex.org/W4286611167","https://openalex.org/W4286611172","https://openalex.org/W4312339971","https://openalex.org/W4385261075","https://openalex.org/W4389539693","https://openalex.org/W4400818909","https://openalex.org/W4402660086","https://openalex.org/W4402727120","https://openalex.org/W4402753875","https://openalex.org/W4402753977","https://openalex.org/W4404525798","https://openalex.org/W4404965790","https://openalex.org/W4412673647","https://openalex.org/W4412673694","https://openalex.org/W4413147695","https://openalex.org/W4415796584","https://openalex.org/W7127895970","https://openalex.org/W7133197571","https://openalex.org/W7133247961","https://openalex.org/W7167222789"],"related_works":["https://openalex.org/W1991948291","https://openalex.org/W4233596816","https://openalex.org/W2806871770","https://openalex.org/W2163637712","https://openalex.org/W2098917378","https://openalex.org/W2554997459","https://openalex.org/W49841346","https://openalex.org/W2032507921","https://openalex.org/W7155016820","https://openalex.org/W2148292738"],"abstract_inverted_index":{"Rigid-body":[0],"interpenetration":[1,37],"frequently":[2],"occurs":[3],"in":[4],"procedurally":[5],"assembled":[6],"and":[7,10,61,100,120,139,142,150,179,185,210],"generated":[8],"scenes":[9],"must":[11],"be":[12,213],"removed":[13],"before":[14],"downstream":[15],"applications":[16],"such":[17],"as":[18],"physical":[19],"simulation.":[20],"We":[21,124],"present":[22],"S4R":[23,39,126,169],"(":[24],"S":[25],"caling":[26],"for":[27,35],"Rigid-Body":[28],"Interpenetration":[29],"R":[30],"esolution),":[31],"a":[32,46,51,67,91,116,146,151],"scale-continuation":[33],"method":[34],"static":[36],"repair.":[38],"first":[40],"uniformly":[41],"shrinks":[42],"each":[43,192],"body":[44],"about":[45],"fixed":[47],"reference":[48],"center":[49],"to":[50,165,205],"small":[52,178],"initial":[53],"scale,":[54],"at":[55,186],"which":[56],"the":[57,78,105,111,157,187,196],"layout":[58],"is":[59],"penetration-free,":[60],"then":[62,113],"restores":[63],"full":[64],"scale":[65],"through":[66],"sequence":[68,92],"of":[69,93,107,182],"minimum-norm":[70],"convex":[71],"contact":[72],"quadratic":[73],"programs":[74],"(QPs)":[75],"that":[76,176],"target":[77],"linearized":[79],"separation":[80],"margin":[81],"during":[82],"continuation.":[83],"Resolution":[84],"thereby":[85],"replaces":[86],"one":[87],"deep":[88],"correction":[89],"with":[90,115,174],"shallow-contact":[94],"subproblems.":[95],"A":[96,199],"conservative":[97],"scale-event":[98],"bound":[99],"frozen-witness":[101],"gap":[102],"predictions":[103],"cut":[104],"number":[106],"exact":[108],"mesh":[109],"queries;":[110],"continuation":[112],"ends":[114],"full-scale":[117],"evaluator":[118,149],"check":[119],"bounded":[121],"tail":[122],"refinement.":[123],"evaluate":[125],"on":[127,160,215],"Kubric":[128],"[Greff":[129],"et":[130,136],"al.":[131,137],"2022],":[132],"HY3D-Bench":[133],"[Team":[134],"Hunyuan3D":[135],"2026],":[138],"Thingi10K":[140],"[Zhou":[141],"Jacobson":[143],"2016]":[144],"using":[145],"shared":[147],"mesh-level":[148],"unified":[152],"per-scene":[153],"timing":[154],"protocol.":[155],"In":[156],"main":[158],"comparisons":[159],"all":[161],"three":[162],"benchmarks,":[163],"up":[164],"N":[166],"=5000":[167],"bodies,":[168],"reaches":[170],"zero":[171],"reported":[172],"penetration":[173],"displacement":[175],"stays":[177],"nearly":[180],"independent":[181],"scene":[183],"size,":[184],"lowest":[188],"wall":[189],"time":[190],"within":[191],"hardware":[193],"tier":[194],"among":[195],"compared":[197],"methods.":[198],"GPU":[200],"implementation":[201],"extends":[202],"these":[203],"results":[204],"large-scale":[206],"scenes.":[207],"Our":[208],"code":[209],"data":[211],"can":[212],"found":[214],"our":[216],"project":[217],"page:":[218],"https://frank-zy-dou.github.io/projects/S4R/index.html.":[219]},"counts_by_year":[],"updated_date":"2026-11-10T11:39:43.021295","created_date":"2026-09-19T00:00:00"}