{"meta": {"count": 3944, "db_response_time_ms": 132, "page": 1, "per_page": 3, "groups_count": null, "x_query": {"oql": "get works where full text has (incremental potential contact intersection inversion-free)", "oqo": {"get_rows": "works", "filter_rows": [{"column_id": "fulltext.search", "value": "incremental potential contact intersection inversion-free", "operator": "has"}]}, "url": "/works?filter=fulltext.search:incremental potential contact intersection inversion-free&per_page=3"}, "cost_usd": 0.001}, "results": [{"id": "https://openalex.org/W3048889784", "doi": "https://doi.org/10.1145/3386569.3392425", "title": "Incremental potential contact", "display_name": "Incremental potential contact", "relevance_score": 74.48143, "publication_year": 2020, "publication_date": "2020-08-12", "ids": {"openalex": "https://openalex.org/W3048889784", "doi": "https://doi.org/10.1145/3386569.3392425", "mag": "3048889784"}, "language": "en", "primary_location": {"id": "doi:10.1145/3386569.3392425", "doi": "https://doi.org/10.1145/3386569.3392425", "is_oa": false, "landing_page_url": "https://doi.org/10.1145/3386569.3392425", "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": null, "license_id": null, "version": "publishedVersion", "is_accepted": true, "is_published": true, "raw_source_name": "ACM Transactions on Graphics", "raw_type": "journal-article"}, "volume": null, "type": "article", "indexed_in": ["crossref"], "open_access": {"is_oa": false, "oa_status": "closed", "oa_url": null, "any_repository_has_fulltext": false}, "authorships": [{"author_position": "first", "author": {"id": "https://openalex.org/A5087311970", "display_name": "Minchen Li", "orcid": "https://orcid.org/0000-0001-9868-7311", "observed_orcids": ["https://orcid.org/0000-0001-9868-7311"]}, "institutions": [{"id": "https://openalex.org/I79576946", "display_name": "University of Pennsylvania", "ror": "https://ror.org/00b30xv10", "country_code": "US", "type": "education", "lineage": ["https://openalex.org/I79576946"]}], "countries": ["US"], "is_corresponding": false, "raw_author_name": "Minchen Li", "raw_affiliation_strings": ["University of Pennsylvania & Adobe Research"], "raw_orcid": null, "affiliations": [{"raw_affiliation_string": "University of Pennsylvania & Adobe Research", "institution_ids": ["https://openalex.org/I79576946"]}]}, {"author_position": "middle", "author": {"id": "https://openalex.org/A5007301924", "display_name": "Zachary Ferguson", "orcid": "https://orcid.org/0000-0003-2466-3768", "observed_orcids": ["https://orcid.org/0000-0003-2466-3768"]}, "institutions": [{"id": "https://openalex.org/I57206974", "display_name": "New York University", "ror": "https://ror.org/0190ak572", "country_code": "US", "type": "education", "lineage": ["https://openalex.org/I57206974"]}], "countries": ["US"], "is_corresponding": false, "raw_author_name": "Zachary Ferguson", "raw_affiliation_strings": ["New York University"], "raw_orcid": null, "affiliations": [{"raw_affiliation_string": "New York University", "institution_ids": ["https://openalex.org/I57206974"]}]}, {"author_position": "middle", "author": {"id": "https://openalex.org/A5008550029", "display_name": "Teseo Schneider", "orcid": "https://orcid.org/0000-0002-5969-636X", "observed_orcids": ["https://orcid.org/0000-0002-5969-636X"]}, "institutions": [{"id": "https://openalex.org/I57206974", "display_name": "New York University", "ror": "https://ror.org/0190ak572", "country_code": "US", "type": "education", "lineage": ["https://openalex.org/I57206974"]}], "countries": ["US"], "is_corresponding": false, "raw_author_name": "Teseo Schneider", "raw_affiliation_strings": ["New York University"], "raw_orcid": null, "affiliations": [{"raw_affiliation_string": "New York University", "institution_ids": ["https://openalex.org/I57206974"]}]}, {"author_position": "middle", "author": {"id": "https://openalex.org/A5074765581", "display_name": "Timothy Langlois", "orcid": "https://orcid.org/0000-0002-5043-8698", "observed_orcids": ["https://orcid.org/0000-0002-5043-8698"]}, "institutions": [{"id": "https://openalex.org/I1306409833", "display_name": "Adobe Systems (United States)", "ror": "https://ror.org/059tvcg64", "country_code": "US", "type": "company", "lineage": ["https://openalex.org/I1306409833"]}], "countries": ["US"], "is_corresponding": false, "raw_author_name": "Timothy Langlois", "raw_affiliation_strings": ["Adobe Research"], "raw_orcid": null, "affiliations": [{"raw_affiliation_string": "Adobe Research", "institution_ids": ["https://openalex.org/I1306409833"]}]}, {"author_position": "middle", "author": {"id": "https://openalex.org/A5061986862", "display_name": "Denis Zorin", "orcid": "https://orcid.org/0000-0001-7733-5501", "observed_orcids": ["https://orcid.org/0000-0001-7733-5501"]}, "institutions": [{"id": "https://openalex.org/I57206974", "display_name": "New York University", "ror": "https://ror.org/0190ak572", "country_code": "US", "type": "education", "lineage": ["https://openalex.org/I57206974"]}], "countries": ["US"], "is_corresponding": false, "raw_author_name": "Denis Zorin", "raw_affiliation_strings": ["New York University"], "raw_orcid": null, "affiliations": [{"raw_affiliation_string": "New York University", "institution_ids": ["https://openalex.org/I57206974"]}]}, {"author_position": "middle", "author": {"id": "https://openalex.org/A5046160172", "display_name": "Daniele Panozzo", "orcid": "https://orcid.org/0000-0003-1183-2454", "observed_orcids": ["https://orcid.org/0000-0003-1183-2454"]}, "institutions": [{"id": "https://openalex.org/I57206974", "display_name": "New York University", "ror": "https://ror.org/0190ak572", "country_code": "US", "type": "education", "lineage": ["https://openalex.org/I57206974"]}], "countries": ["US"], "is_corresponding": false, "raw_author_name": "Daniele Panozzo", "raw_affiliation_strings": ["New York University"], "raw_orcid": null, "affiliations": [{"raw_affiliation_string": "New York University", "institution_ids": ["https://openalex.org/I57206974"]}]}, {"author_position": "middle", "author": {"id": "https://openalex.org/A5068163735", "display_name": "Chenfanfu Jiang", "orcid": "https://orcid.org/0000-0003-3506-0583", "observed_orcids": ["https://orcid.org/0000-0003-3506-0583"]}, "institutions": [{"id": "https://openalex.org/I79576946", "display_name": "University of Pennsylvania", "ror": "https://ror.org/00b30xv10", "country_code": "US", "type": "education", "lineage": ["https://openalex.org/I79576946"]}], "countries": ["US"], "is_corresponding": false, "raw_author_name": "Chenfanfu Jiang", "raw_affiliation_strings": ["University of Pennsylvania"], "raw_orcid": null, "affiliations": [{"raw_affiliation_string": "University of Pennsylvania", "institution_ids": ["https://openalex.org/I79576946"]}]}, {"author_position": "last", "author": {"id": "https://openalex.org/A5056691897", "display_name": "Danny M. Kaufman", "orcid": "https://orcid.org/0009-0000-2864-2089", "observed_orcids": ["https://orcid.org/0009-0000-2864-2089"]}, "institutions": [{"id": "https://openalex.org/I1306409833", "display_name": "Adobe Systems (United States)", "ror": "https://ror.org/059tvcg64", "country_code": "US", "type": "company", "lineage": ["https://openalex.org/I1306409833"]}], "countries": ["US"], "is_corresponding": false, "raw_author_name": "Danny M. Kaufman", "raw_affiliation_strings": ["Adobe Research"], "raw_orcid": null, "affiliations": [{"raw_affiliation_string": "Adobe Research", "institution_ids": ["https://openalex.org/I1306409833"]}]}], "institutions": [], "countries_distinct_count": 1, "institutions_distinct_count": 3, "corresponding_author_ids": [], "corresponding_institution_ids": [], "apc_list": null, "apc_paid": null, "fwci": 13.5735, "has_fulltext": false, "cited_by_count": 317, "citation_normalized_percentile": {"value": 0.99102054, "is_in_top_1_percent": true, "is_in_top_10_percent": true}, "cited_by_percentile_year": {"min": 98, "max": 100}, "biblio": {"volume": "39", "issue": "4", "first_page": null, "last_page": null}, "is_retracted": false, "is_paratext": false, "is_xpac": false, "primary_topic": {"id": "https://openalex.org/T12809", "display_name": "Contact Mechanics and Variational Inequalities", "score": 0.7192000150680542, "subfield": {"id": "https://openalex.org/subfields/1703", "display_name": "Computational Theory and Mathematics"}, "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/T12809", "display_name": "Contact Mechanics and Variational Inequalities", "score": 0.7192000150680542, "subfield": {"id": "https://openalex.org/subfields/1703", "display_name": "Computational Theory and Mathematics"}, "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/T10481", "display_name": "Computer Graphics and Visualization Techniques", "score": 0.13439999520778656, "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/T11394", "display_name": "Dynamics and Control of Mechanical Systems", "score": 0.041999999433755875, "subfield": {"id": "https://openalex.org/subfields/2207", "display_name": "Control and Systems Engineering"}, "field": {"id": "https://openalex.org/fields/22", "display_name": "Engineering"}, "domain": {"id": "https://openalex.org/domains/3", "display_name": "Physical Sciences"}}], "keywords": [{"id": "https://openalex.org/keywords/contact-mechanics", "display_name": "contact mechanics", "score": 0.7459999918937683}, {"id": "https://openalex.org/keywords/nonlinear-elastodynamics", "display_name": "nonlinear elastodynamics", "score": 0.7739999890327454}, {"id": "https://openalex.org/keywords/implicit-time-integration", "display_name": "implicit time integration", "score": 0.7590000033378601}, {"id": "https://openalex.org/keywords/large-deformation", "display_name": "large deformation", "score": 0.4729999899864197}, {"id": "https://openalex.org/keywords/surface-to-surface-contact", "display_name": "surface-to-surface contact", "score": 0.8029999732971191}], "concepts": [{"id": "https://openalex.org/C41008148", "wikidata": "https://www.wikidata.org/wiki/Q21198", "display_name": "Computer science", "level": 0, "score": 0.6863347291946411}, {"id": "https://openalex.org/C2778770139", "wikidata": "https://www.wikidata.org/wiki/Q1966904", "display_name": "Solver", "level": 2, "score": 0.6005507707595825}, {"id": "https://openalex.org/C158622935", "wikidata": "https://www.wikidata.org/wiki/Q660848", "display_name": "Nonlinear system", "level": 2, "score": 0.5635724067687988}, {"id": "https://openalex.org/C45374587", "wikidata": "https://www.wikidata.org/wiki/Q12525525", "display_name": "Computation", "level": 2, "score": 0.5312853455543518}, {"id": "https://openalex.org/C64543145", "wikidata": "https://www.wikidata.org/wiki/Q162942", "display_name": "Intersection (aeronautics)", "level": 2, "score": 0.5075281858444214}, {"id": "https://openalex.org/C3019693144", "wikidata": "https://www.wikidata.org/wiki/Q541182", "display_name": "Time stepping", "level": 3, "score": 0.5048688054084778}, {"id": "https://openalex.org/C502989409", "wikidata": "https://www.wikidata.org/wiki/Q11425", "display_name": "Animation", "level": 2, "score": 0.4681682288646698}, {"id": "https://openalex.org/C11413529", "wikidata": "https://www.wikidata.org/wiki/Q8366", "display_name": "Algorithm", "level": 1, "score": 0.4632728099822998}, {"id": "https://openalex.org/C1893757", "wikidata": "https://www.wikidata.org/wiki/Q3653001", "display_name": "Inversion (geology)", "level": 3, "score": 0.44398507475852966}, {"id": "https://openalex.org/C21442007", "wikidata": "https://www.wikidata.org/wiki/Q1027879", "display_name": "Graphics", "level": 2, "score": 0.42858558893203735}, {"id": "https://openalex.org/C171268870", "wikidata": "https://www.wikidata.org/wiki/Q1486676", "display_name": "GRASP", "level": 2, "score": 0.42421233654022217}, {"id": "https://openalex.org/C44154836", "wikidata": "https://www.wikidata.org/wiki/Q45045", "display_name": "Simulation", "level": 1, "score": 0.32938456535339355}, {"id": "https://openalex.org/C121684516", "wikidata": "https://www.wikidata.org/wiki/Q7600677", "display_name": "Computer graphics (images)", "level": 1, "score": 0.19120198488235474}, {"id": "https://openalex.org/C127413603", "wikidata": "https://www.wikidata.org/wiki/Q11023", "display_name": "Engineering", "level": 0, "score": 0.10348236560821533}, {"id": "https://openalex.org/C135628077", "wikidata": "https://www.wikidata.org/wiki/Q220184", "display_name": "Finite element method", "level": 2, "score": 0.09969010949134827}, {"id": "https://openalex.org/C66938386", "wikidata": "https://www.wikidata.org/wiki/Q633538", "display_name": "Structural engineering", "level": 1, "score": 0.09767436981201172}, {"id": "https://openalex.org/C121332964", "wikidata": "https://www.wikidata.org/wiki/Q413", "display_name": "Physics", "level": 0, "score": 0.0}, {"id": "https://openalex.org/C86803240", "wikidata": "https://www.wikidata.org/wiki/Q420", "display_name": "Biology", "level": 0, "score": 0.0}, {"id": "https://openalex.org/C62520636", "wikidata": "https://www.wikidata.org/wiki/Q944", "display_name": "Quantum mechanics", "level": 1, "score": 0.0}, {"id": "https://openalex.org/C151730666", "wikidata": "https://www.wikidata.org/wiki/Q7205", "display_name": "Paleontology", "level": 1, "score": 0.0}, {"id": "https://openalex.org/C199360897", "wikidata": "https://www.wikidata.org/wiki/Q9143", "display_name": "Programming language", "level": 1, "score": 0.0}, {"id": "https://openalex.org/C146978453", "wikidata": "https://www.wikidata.org/wiki/Q3798668", "display_name": "Aerospace engineering", "level": 1, "score": 0.0}, {"id": "https://openalex.org/C109007969", "wikidata": "https://www.wikidata.org/wiki/Q749565", "display_name": "Structural basin", "level": 2, "score": 0.0}], "mesh": [], "locations_count": 1, "locations": [{"id": "doi:10.1145/3386569.3392425", "doi": "https://doi.org/10.1145/3386569.3392425", "is_oa": false, "landing_page_url": "https://doi.org/10.1145/3386569.3392425", "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": null, "license_id": null, "version": "publishedVersion", "is_accepted": true, "is_published": true, "raw_source_name": "ACM Transactions on Graphics", "raw_type": "journal-article"}], "best_oa_location": null, "sustainable_development_goals": [], "sustainable_development_goals_aurora": [], "study_designs": [], "awards": [{"id": "https://openalex.org/G2459396718", "display_name": null, "funder_award_id": "4000171342", "funder_id": "https://openalex.org/F4320338287", "funder_display_name": "Oak Ridge National Laboratory"}, {"id": "https://openalex.org/G607806744", "display_name": null, "funder_award_id": "IIS-1943199, 1652515, CCF-1813624, IIS-1320635, DMS-1436591, DMS-1821334, OAC-1835712, OIA-1937043, CHS-1908767, CHS-1901091", "funder_id": "https://openalex.org/F4320315254", "funder_display_name": "Innovative Research Group Project of the National Natural Science Foundation of China"}], "funders": [{"id": "https://openalex.org/F4320307757", "display_name": "Advanced Micro Devices", "ror": "https://ror.org/04kd6c783"}, {"id": "https://openalex.org/F4320309480", "display_name": "Nvidia", "ror": "https://ror.org/03jdj4y14"}, {"id": "https://openalex.org/F4320315254", "display_name": "Innovative Research Group Project of the National Natural Science Foundation of China", "ror": null}, {"id": "https://openalex.org/F4320338287", "display_name": "Oak Ridge National Laboratory", "ror": "https://ror.org/01qz5mb56"}, {"id": "https://openalex.org/F7525545622", "display_name": "Adobe Research", "ror": null}], "has_content": {"pdf": false, "grobid_xml": false}, "content_urls": null, "referenced_works_count": 36, "referenced_works": ["https://openalex.org/W1965274240", "https://openalex.org/W1975714312", "https://openalex.org/W1979668890", "https://openalex.org/W2005449419", "https://openalex.org/W2046156462", "https://openalex.org/W2048544747", "https://openalex.org/W2050692589", "https://openalex.org/W2075921599", "https://openalex.org/W2076159000", "https://openalex.org/W2077065082", "https://openalex.org/W2082495120", "https://openalex.org/W2087366393", "https://openalex.org/W2089024363", "https://openalex.org/W2108393875", "https://openalex.org/W2118195296", "https://openalex.org/W2122851913", "https://openalex.org/W2124969394", "https://openalex.org/W2134448913", "https://openalex.org/W2147280642", "https://openalex.org/W2468193039", "https://openalex.org/W2493337263", "https://openalex.org/W2499662517", "https://openalex.org/W2739235713", "https://openalex.org/W2770161079", "https://openalex.org/W2810395763", "https://openalex.org/W2901426413", "https://openalex.org/W2902857675", "https://openalex.org/W2920946798", "https://openalex.org/W2959076435", "https://openalex.org/W3098281632", "https://openalex.org/W4206840271", "https://openalex.org/W4238307931", "https://openalex.org/W4247858869", "https://openalex.org/W4250733865", "https://openalex.org/W4292069163", "https://openalex.org/W6678684528"], "related_works": ["https://openalex.org/W2163296013", "https://openalex.org/W2743859443", "https://openalex.org/W2326995835", "https://openalex.org/W165915117", "https://openalex.org/W2059402478", "https://openalex.org/W2123347777", "https://openalex.org/W4387804363", "https://openalex.org/W2019547100", "https://openalex.org/W4386322318", "https://openalex.org/W2380399844"], "abstract_inverted_index": {"Contacts": [0], "weave": [1], "through": [2], "every": [3, 30], "aspect": [4], "of": [5, 15, 21, 36, 50, 64, 96, 105, 121, 133, 137, 144, 232, 287, 302, 322], "our": [6, 201], "physical": [7, 135], "world,": [8], "from": [9], "daily": [10], "household": [11], "chores": [12], "to": [13, 29, 150, 182, 197, 309, 324, 330], "acts": [14], "nature.": [16], "Modeling": [17], "and": [18, 41, 47, 79, 92, 140, 162, 192, 194, 214, 238, 246, 266, 276, 289, 293, 306, 327, 361], "predictive": [19], "computation": [20], "these": [22, 221], "phenomena": [23], "for": [24, 81, 158, 348, 369], "solid": [25], "mechanics": [26], "is": [27, 204], "important": [28], "discipline": [31], "concerned": [32], "with": [33, 112, 124, 259, 319], "the": [34, 61, 134, 138, 141, 205, 212], "motion": [35], "mechanical": [37], "systems,": [38], "including": [39], "engineering": [40, 213, 245], "animation.": [42], "Nevertheless,": [43], "efficiently": [44], "time-stepping": [45, 122, 208], "accurate": [46, 195, 296], "consistent": [48], "simulations": [49], "real-world": [51], "contacting": [52], "elastica": [53], "remains": [54], "an": [55, 90, 229], "outstanding": [56], "computational": [57], "challenge.": [58], "To": [59, 200], "model": [60, 78], "complex": [62], "interaction": [63], "deforming": [65], "solids": [66], "in": [67, 254], "contact": [68, 169, 274], "we": [69, 224, 241, 270, 340, 355], "propose": [70], "Incremental": [71], "Potential": [72], "Contact": [73], "(IPC)": [74], "-": [75], "a": [76, 113, 159, 284, 299], "new": [77, 290], "algorithm": [80], "variationally": [82], "solving": [83], "implicitly": [84], "time-stepped": [85], "nonlinear": [86, 115], "elastodynamics.": [87], "IPC": [88, 117, 282, 357], "maintains": [89], "intersection-": [91], "inversion-free": [93], "trajectory": [94], "regardless": [95], "material": [97], "parameters,": [98], "time": [99, 166, 277, 334], "step": [100], "sizes,": [101], "impact": [102], "velocities,": [103], "severity": [104], "deformation,": [106], "or": [107, 183], "boundary": [108], "conditions": [109], "enforced.": [110], "Constructed": [111], "custom": [114], "solver,": [116], "enables": [118, 148], "efficient": [119, 178], "resolution": [120], "problems": [123, 170], "separate,": [125], "user-exposed": [126], "accuracy": [127, 136, 143], "tolerances": [128, 366], "that": [129, 171, 188, 217, 243], "allow": [130], "independent": [131], "specification": [132], "dynamics": [139, 161], "geometric": [142], "surface-to-surface": [145], "conformation.": [146], "This": [147], "users": [149], "decouple,": [151], "as": [152, 223, 269], "needed": [153], "per": [154, 333], "application,": [155], "desired": [156], "accuracies": [157], "simulation's": [160], "geometry.": [163], "The": [164], "resulting": [165], "stepper": [167], "solves": [168], "are": [172, 367], "intersection-free": [173], "(and": [174], "thus": [175], "robust),": [176], "inversion-free,": [177], "(at": [179], "speeds": [180], "comparable": [181], "faster": [184], "than": [185], "available": [186, 233, 244], "methods": [187], "lack": [189], "both": [190, 211], "convergence": [191, 343], "feasibility),": [193], "(solved": [196], "user-specified": [198], "accuracies).": [199], "knowledge": [202], "this": [203], "first": [206], "implicit": [207], "method,": [209], "across": [210, 283, 313], "graphics": [215, 248], "literature": [216], "can": [218, 358], "consistently": [219], "enforce": [220], "guarantees": [222], "vary": [225, 271], "simulation": [226, 234], "parameters.": [227], "In": [228], "extensive": [230], "comparison": [231], "methods,": [235, 249], "research": [236], "libraries": [237], "commercial": [239], "codes": [240], "confirm": [242, 356], "computer": [247], "while": [250], "each": [251], "succeeding": [252], "admirably": [253], "custom-tuned": [255], "regimes,": [256], "often": [257], "fail": [258], "instabilities,": [260], "egregious": [261], "constraint": [262], "violations": [263], "and/or": [264], "inaccurate": [265], "implausible": [267], "solutions,": [268], "input": [272], "materials,": [273], "numbers": [275], "step.": [278, 335], "We": [279], "also": [280], "exercise": [281], "wide": [285], "range": [286], "existing": [288], "benchmark": [291], "tests": [292], "demonstrate": [294, 341], "its": [295], "solution": [297], "over": [298], "broad": [300], "sweep": [301], "reasonable": [303], "time-step": [304], "sizes": [305], "beyond": [307], "(up": [308], "h": [310], "=": [311], "2s)": [312], "challenging": [314], "large-deformation,": [315], "large-contact": [316], "stress-test": [317], "scenarios": [318], "meshes": [320], "composed": [321], "up": [323, 329], "2.3M": [325], "tetrahedra": [326], "processing": [328], "498K": [331], "contacts": [332], "For": [336], "applications": [337, 349], "requiring": [338, 350], "high-accuracy": [339], "tight": [342], "on": [344], "all": [345], "measures.": [346], "While,": [347], "lower": [351], "accuracies,": [352], "e.g.": [353], "animation,": [354], "ensure": [359], "feasibility": [360], "plausibility": [362], "even": [363], "when": [364], "specified": [365], "lowered": [368], "efficiency.": [370]}, "counts_by_year": [{"year": 2026, "cited_by_count": 52}, {"year": 2025, "cited_by_count": 80}, {"year": 2024, "cited_by_count": 71}, {"year": 2023, "cited_by_count": 49}, {"year": 2022, "cited_by_count": 32}, {"year": 2021, "cited_by_count": 27}, {"year": 2020, "cited_by_count": 6}], "updated_date": "2026-10-12T09:40:04.860316", "created_date": "2025-10-10T00:00:00"}, {"id": "https://openalex.org/W4385473593", "doi": "https://doi.org/10.48550/arxiv.2307.15908", "title": "Convergent Incremental Potential Contact", "display_name": "Convergent Incremental Potential Contact", "relevance_score": 53.853786, "publication_year": 2023, "publication_date": "2023-07-29", "ids": {"openalex": "https://openalex.org/W4385473593", "doi": "https://doi.org/10.48550/arxiv.2307.15908"}, "language": "en", "primary_location": {"id": "pmh:oai:arXiv.org:2307.15908", "doi": null, "is_oa": true, "landing_page_url": "http://arxiv.org/abs/2307.15908", "pdf_url": "https://arxiv.org/pdf/2307.15908", "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": null, "license_id": null, "version": "submittedVersion", "is_accepted": false, "is_published": false, "raw_source_name": null, "raw_type": "text"}, "volume": null, "type": "preprint", "indexed_in": ["arxiv", "datacite"], "open_access": {"is_oa": true, "oa_status": "green", "oa_url": "https://arxiv.org/pdf/2307.15908", "any_repository_has_fulltext": true}, "authorships": [{"author_position": "first", "author": {"id": "https://openalex.org/A5087311970", "display_name": "Minchen Li", "orcid": "https://orcid.org/0000-0001-9868-7311", "observed_orcids": ["https://orcid.org/0000-0001-9868-7311"]}, "institutions": [], "countries": [], "is_corresponding": false, "raw_author_name": "Li, Minchen", "raw_affiliation_strings": [], "raw_orcid": null, "affiliations": []}, {"author_position": "middle", "author": {"id": "https://openalex.org/A5007301924", "display_name": "Zachary Ferguson", "orcid": "https://orcid.org/0000-0003-2466-3768", "observed_orcids": ["https://orcid.org/0000-0003-2466-3768"]}, "institutions": [], "countries": [], "is_corresponding": false, "raw_author_name": "Ferguson, Zachary", "raw_affiliation_strings": [], "raw_orcid": null, "affiliations": []}, {"author_position": "middle", "author": {"id": "https://openalex.org/A5008550029", "display_name": "Teseo Schneider", "orcid": "https://orcid.org/0000-0002-5969-636X", "observed_orcids": ["https://orcid.org/0000-0002-5969-636X"]}, "institutions": [], "countries": [], "is_corresponding": false, "raw_author_name": "Schneider, Teseo", "raw_affiliation_strings": [], "raw_orcid": null, "affiliations": []}, {"author_position": "middle", "author": {"id": "https://openalex.org/A5074765581", "display_name": "Timothy Langlois", "orcid": "https://orcid.org/0000-0002-5043-8698", "observed_orcids": ["https://orcid.org/0000-0002-5043-8698"]}, "institutions": [], "countries": [], "is_corresponding": false, "raw_author_name": "Langlois, Timothy", "raw_affiliation_strings": [], "raw_orcid": null, "affiliations": []}, {"author_position": "middle", "author": {"id": "https://openalex.org/A5061986862", "display_name": "Denis Zorin", "orcid": "https://orcid.org/0000-0001-7733-5501", "observed_orcids": ["https://orcid.org/0000-0001-7733-5501"]}, "institutions": [], "countries": [], "is_corresponding": false, "raw_author_name": "Zorin, Denis", "raw_affiliation_strings": [], "raw_orcid": null, "affiliations": []}, {"author_position": "middle", "author": {"id": "https://openalex.org/A5046160172", "display_name": "Daniele Panozzo", "orcid": "https://orcid.org/0000-0003-1183-2454", "observed_orcids": ["https://orcid.org/0000-0003-1183-2454"]}, "institutions": [], "countries": [], "is_corresponding": false, "raw_author_name": "Panozzo, Daniele", "raw_affiliation_strings": [], "raw_orcid": null, "affiliations": []}, {"author_position": "middle", "author": {"id": "https://openalex.org/A5068163735", "display_name": "Chenfanfu Jiang", "orcid": "https://orcid.org/0000-0003-3506-0583", "observed_orcids": ["https://orcid.org/0000-0003-3506-0583"]}, "institutions": [], "countries": [], "is_corresponding": false, "raw_author_name": "Jiang, Chenfanfu", "raw_affiliation_strings": [], "raw_orcid": null, "affiliations": []}, {"author_position": "last", "author": {"id": "https://openalex.org/A5056691897", "display_name": "Danny M. Kaufman", "orcid": "https://orcid.org/0009-0000-2864-2089", "observed_orcids": ["https://orcid.org/0009-0000-2864-2089"]}, "institutions": [], "countries": [], "is_corresponding": false, "raw_author_name": "Kaufman, Danny M.", "raw_affiliation_strings": [], "raw_orcid": null, "affiliations": []}], "institutions": [], "countries_distinct_count": 0, "institutions_distinct_count": 0, "corresponding_author_ids": [], "corresponding_institution_ids": [], "apc_list": null, "apc_paid": null, "fwci": null, "has_fulltext": false, "cited_by_count": 1, "citation_normalized_percentile": null, "cited_by_percentile_year": null, "biblio": {"volume": null, "issue": null, "first_page": null, "last_page": null}, "is_retracted": false, "is_paratext": false, "is_xpac": false, "primary_topic": {"id": "https://openalex.org/T12809", "display_name": "Contact Mechanics and Variational Inequalities", "score": 0.9961000084877014, "subfield": {"id": "https://openalex.org/subfields/1703", "display_name": "Computational Theory and Mathematics"}, "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/T12809", "display_name": "Contact Mechanics and Variational Inequalities", "score": 0.9961000084877014, "subfield": {"id": "https://openalex.org/subfields/1703", "display_name": "Computational Theory and Mathematics"}, "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/T11799", "display_name": "Adhesion, Friction, and Surface Interactions", "score": 0.0013000000035390258, "subfield": {"id": "https://openalex.org/subfields/2211", "display_name": "Mechanics of Materials"}, "field": {"id": "https://openalex.org/fields/22", "display_name": "Engineering"}, "domain": {"id": "https://openalex.org/domains/3", "display_name": "Physical Sciences"}}, {"id": "https://openalex.org/T11394", "display_name": "Dynamics and Control of Mechanical Systems", "score": 0.0010999999940395355, "subfield": {"id": "https://openalex.org/subfields/2207", "display_name": "Control and Systems Engineering"}, "field": {"id": "https://openalex.org/fields/22", "display_name": "Engineering"}, "domain": {"id": "https://openalex.org/domains/3", "display_name": "Physical Sciences"}}], "keywords": [{"id": "https://openalex.org/keywords/frictional-contact", "display_name": "frictional contact", "score": 0.859000027179718}, {"id": "https://openalex.org/keywords/elastodynamics", "display_name": "elastodynamics", "score": 0.9210000038146973}, {"id": "https://openalex.org/keywords/convergence-analysis", "display_name": "convergence analysis", "score": 0.6930000185966492}, {"id": "https://openalex.org/keywords/continuous-formulation", "display_name": "continuous formulation", "score": 0.5370000004768372}, {"id": "https://openalex.org/keywords/discretization", "display_name": "discretization", "score": 0.5929999947547913}, {"id": "https://openalex.org/keywords/time-integration", "display_name": "time integration", "score": 0.5329999923706055}], "concepts": [{"id": "https://openalex.org/C73000952", "wikidata": "https://www.wikidata.org/wiki/Q17007827", "display_name": "Discretization", "level": 2, "score": 0.9139131903648376}, {"id": "https://openalex.org/C2777303404", "wikidata": "https://www.wikidata.org/wiki/Q759757", "display_name": "Convergence (economics)", "level": 2, "score": 0.6971123814582825}, {"id": "https://openalex.org/C41008148", "wikidata": "https://www.wikidata.org/wiki/Q21198", "display_name": "Computer science", "level": 0, "score": 0.5747838020324707}, {"id": "https://openalex.org/C126255220", "wikidata": "https://www.wikidata.org/wiki/Q141495", "display_name": "Mathematical optimization", "level": 1, "score": 0.5565064549446106}, {"id": "https://openalex.org/C64543145", "wikidata": "https://www.wikidata.org/wiki/Q162942", "display_name": "Intersection (aeronautics)", "level": 2, "score": 0.5423314571380615}, {"id": "https://openalex.org/C85522705", "wikidata": "https://www.wikidata.org/wiki/Q3278015", "display_name": "Line search", "level": 3, "score": 0.5398553609848022}, {"id": "https://openalex.org/C2776036281", "wikidata": "https://www.wikidata.org/wiki/Q48769818", "display_name": "Constraint (computer-aided design)", "level": 2, "score": 0.52793288230896}, {"id": "https://openalex.org/C1893757", "wikidata": "https://www.wikidata.org/wiki/Q3653001", "display_name": "Inversion (geology)", "level": 3, "score": 0.4898211658000946}, {"id": "https://openalex.org/C36503486", "wikidata": "https://www.wikidata.org/wiki/Q11235244", "display_name": "Domain (mathematical analysis)", "level": 2, "score": 0.4727792739868164}, {"id": "https://openalex.org/C28826006", "wikidata": "https://www.wikidata.org/wiki/Q33521", "display_name": "Applied mathematics", "level": 1, "score": 0.4472808837890625}, {"id": "https://openalex.org/C11413529", "wikidata": "https://www.wikidata.org/wiki/Q8366", "display_name": "Algorithm", "level": 1, "score": 0.34056466817855835}, {"id": "https://openalex.org/C33923547", "wikidata": "https://www.wikidata.org/wiki/Q395", "display_name": "Mathematics", "level": 0, "score": 0.2549670338630676}, {"id": "https://openalex.org/C134306372", "wikidata": "https://www.wikidata.org/wiki/Q7754", "display_name": "Mathematical analysis", "level": 1, "score": 0.12180730700492859}, {"id": "https://openalex.org/C2524010", "wikidata": "https://www.wikidata.org/wiki/Q8087", "display_name": "Geometry", "level": 1, "score": 0.09831660985946655}, {"id": "https://openalex.org/C127413603", "wikidata": "https://www.wikidata.org/wiki/Q11023", "display_name": "Engineering", "level": 0, "score": 0.096642404794693}, {"id": "https://openalex.org/C127313418", "wikidata": "https://www.wikidata.org/wiki/Q1069", "display_name": "Geology", "level": 0, "score": 0.07627484202384949}, {"id": "https://openalex.org/C146978453", "wikidata": "https://www.wikidata.org/wiki/Q3798668", "display_name": "Aerospace engineering", "level": 1, "score": 0.0}, {"id": "https://openalex.org/C38652104", "wikidata": "https://www.wikidata.org/wiki/Q3510521", "display_name": "Computer security", "level": 1, "score": 0.0}, {"id": "https://openalex.org/C50522688", "wikidata": "https://www.wikidata.org/wiki/Q189833", "display_name": "Economic growth", "level": 1, "score": 0.0}, {"id": "https://openalex.org/C162324750", "wikidata": "https://www.wikidata.org/wiki/Q8134", "display_name": "Economics", "level": 0, "score": 0.0}, {"id": "https://openalex.org/C151730666", "wikidata": "https://www.wikidata.org/wiki/Q7205", "display_name": "Paleontology", "level": 1, "score": 0.0}, {"id": "https://openalex.org/C178635117", "wikidata": "https://www.wikidata.org/wiki/Q747499", "display_name": "RADIUS", "level": 2, "score": 0.0}, {"id": "https://openalex.org/C109007969", "wikidata": "https://www.wikidata.org/wiki/Q749565", "display_name": "Structural basin", "level": 2, "score": 0.0}], "mesh": [], "locations_count": 2, "locations": [{"id": "pmh:oai:arXiv.org:2307.15908", "doi": null, "is_oa": true, "landing_page_url": "http://arxiv.org/abs/2307.15908", "pdf_url": "https://arxiv.org/pdf/2307.15908", "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": null, "license_id": null, "version": "submittedVersion", "is_accepted": false, "is_published": false, "raw_source_name": null, "raw_type": "text"}, {"id": "doi:10.48550/arxiv.2307.15908", "doi": "https://doi.org/10.48550/arxiv.2307.15908", "is_oa": true, "landing_page_url": "https://doi.org/10.48550/arxiv.2307.15908", "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": null, "license_id": null, "version": null, "is_accepted": false, "is_published": null, "raw_source_name": null, "raw_type": "Preprint"}], "best_oa_location": {"id": "pmh:oai:arXiv.org:2307.15908", "doi": null, "is_oa": true, "landing_page_url": "http://arxiv.org/abs/2307.15908", "pdf_url": "https://arxiv.org/pdf/2307.15908", "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": null, "license_id": null, "version": "submittedVersion", "is_accepted": false, "is_published": false, "raw_source_name": null, "raw_type": "text"}, "sustainable_development_goals": [], "sustainable_development_goals_aurora": [{"score": 0.6000000238418579, "id": "https://metadata.un.org/sdg/10", "display_name": "Reduced inequalities"}], "study_designs": [], "awards": [], "funders": [], "has_content": {"pdf": false, "grobid_xml": false}, "content_urls": null, "referenced_works_count": 0, "referenced_works": [], "related_works": ["https://openalex.org/W2006251942", "https://openalex.org/W2364741597", "https://openalex.org/W1492103595", "https://openalex.org/W1864774435", "https://openalex.org/W946352265", "https://openalex.org/W3020787026", "https://openalex.org/W2334479858", "https://openalex.org/W2799209613", "https://openalex.org/W2793786119", "https://openalex.org/W1507702947"], "abstract_inverted_index": {"Recent": [0], "advances": [1], "in": [2, 83], "the": [3, 10, 23, 40, 84, 98], "simulation": [4, 21], "of": [5, 25, 101, 110], "frictionally": [6], "contacting": [7], "elastodynamics": [8], "with": [9, 53], "Incremental": [11], "Potential": [12], "Contact": [13], "(IPC)": [14], "model": [15, 42, 78, 104], "have": [16], "enabled": [17], "inversion": [18], "and": [19, 30, 87, 96, 105, 112, 116, 124], "intersection-free": [20], "via": [22, 45], "application": [24], "mollified": [26], "barriers,": [27], "filtered": [28], "line-search,": [29], "optimization-based": [31], "solvers": [32], "for": [33], "time": [34], "integration.": [35], "In": [36], "its": [37, 118], "current": [38], "formulation": [39, 68], "IPC": [41, 77, 81], "is": [43], "constructed": [44], "a": [46, 75, 89, 108], "discrete": [47, 67], "constraint": [48], "model,": [49], "replacing": [50], "non-interpenetration": [51], "constraints": [52], "barrier": [54], "potentials": [55, 82], "on": [56, 107, 120], "an": [57], "already": [58], "spatially": [59], "discretized": [60], "domain.": [61], "However,": [62], "while": [63], "effective,": [64], "this": [65, 102], "purely": [66], "prohibits": [69], "convergence": [70, 99], "under": [71], "refinement.": [72], "To": [73], "enable": [74], "convergent": [76, 91], "we": [79], "reformulate": [80], "continuous": [85], "setting": [86], "provide": [88], "first,": [90], "discretization": [92, 106], "thereof.": [93], "We": [94], "demonstrate": [95], "analyze": [97], "behavior": [100], "new": [103], "range": [109], "elastostatic": [111], "dynamic": [113], "contact": [114], "problems,": [115], "evaluate": [117], "accuracy": [119], "both": [121], "analytical": [122], "benchmarks": [123], "application-driven": [125], "examples.": [126]}, "counts_by_year": [{"year": 2025, "cited_by_count": 1}], "updated_date": "2026-09-29T14:09:16.559479", "created_date": "2025-10-10T00:00:00"}, {"id": "https://openalex.org/W4393104681", "doi": "https://doi.org/10.1109/lra.2024.3381012", "title": "Intersection-Free Robot Manipulation With Soft-Rigid Coupled Incremental Potential Contact", "display_name": "Intersection-Free Robot Manipulation With Soft-Rigid Coupled Incremental Potential Contact", "relevance_score": 51.010784, "publication_year": 2024, "publication_date": "2024-03-22", "ids": {"openalex": "https://openalex.org/W4393104681", "doi": "https://doi.org/10.1109/lra.2024.3381012"}, "language": "en", "primary_location": {"id": "doi:10.1109/lra.2024.3381012", "doi": "https://doi.org/10.1109/lra.2024.3381012", "is_oa": false, "landing_page_url": "https://doi.org/10.1109/lra.2024.3381012", "pdf_url": null, "source": {"id": "https://openalex.org/S4210169774", "display_name": "IEEE Robotics and Automation Letters", "issn_l": "2377-3766", "issn": ["2377-3766", "2377-3774"], "is_oa": false, "is_in_doaj": false, "is_core": true, "listed_in": ["cwts-core", "dongbi-b", "jufo-2", "ki-jl-1", "norway-1", "poland-200", "russia-white-list-1", "vabb-shw"], "host_organization": "https://openalex.org/P4310319808", "host_organization_name": "Institute of Electrical and Electronics Engineers", "host_organization_lineage": ["https://openalex.org/P4310319808"], "host_organization_lineage_names": ["Institute of Electrical and Electronics Engineers"], "type": "journal"}, "license": null, "license_id": null, "version": "publishedVersion", "is_accepted": true, "is_published": true, "raw_source_name": "IEEE Robotics and Automation Letters", "raw_type": "journal-article"}, "volume": null, "type": "article", "indexed_in": ["arxiv", "crossref", "datacite"], "open_access": {"is_oa": true, "oa_status": "green", "oa_url": "https://arxiv.org/pdf/2311.05945", "any_repository_has_fulltext": true}, "authorships": [{"author_position": "first", "author": {"id": "https://openalex.org/A5100629115", "display_name": "Wenxin Du", "orcid": "https://orcid.org/0009-0006-1407-2007", "observed_orcids": ["https://orcid.org/0009-0006-1407-2007"]}, "institutions": [{"id": "https://openalex.org/I183067930", "display_name": "Shanghai Jiao Tong University", "ror": "https://ror.org/0220qvk04", "country_code": "CN", "type": "education", "lineage": ["https://openalex.org/I183067930"]}], "countries": ["CN"], "is_corresponding": false, "raw_author_name": "Wenxin Du", "raw_affiliation_strings": ["School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China"], "raw_orcid": "https://orcid.org/0009-0006-1407-2007", "affiliations": [{"raw_affiliation_string": "School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China", "institution_ids": ["https://openalex.org/I183067930"]}]}, {"author_position": "middle", "author": {"id": "https://openalex.org/A5028392086", "display_name": "Siqiong Yao", "orcid": "https://orcid.org/0000-0001-6968-1586", "observed_orcids": ["https://orcid.org/0000-0001-6968-1586"]}, "institutions": [{"id": "https://openalex.org/I183067930", "display_name": "Shanghai Jiao Tong University", "ror": "https://ror.org/0220qvk04", "country_code": "CN", "type": "education", "lineage": ["https://openalex.org/I183067930"]}], "countries": ["CN"], "is_corresponding": false, "raw_author_name": "Siqiong Yao", "raw_affiliation_strings": ["SJTU-Yale Joint Center of Biostatistics and Data Science, National Center for Translational Medicine, Shanghai Jiao Tong University, Shanghai, China"], "raw_orcid": "https://orcid.org/0000-0001-6968-1586", "affiliations": [{"raw_affiliation_string": "SJTU-Yale Joint Center of Biostatistics and Data Science, National Center for Translational Medicine, Shanghai Jiao Tong University, Shanghai, China", "institution_ids": ["https://openalex.org/I183067930"]}]}, {"author_position": "middle", "author": {"id": "https://openalex.org/A5100722147", "display_name": "Xinlei Wang", "orcid": "https://orcid.org/0009-0000-5066-2262", "observed_orcids": ["https://orcid.org/0009-0000-5066-2262", "https://orcid.org/0000-0002-7951-7568"]}, "institutions": [], "countries": [], "is_corresponding": false, "raw_author_name": "Xinlei Wang", "raw_affiliation_strings": ["ZenusTech Inc.,, Shenzhen, China"], "raw_orcid": "https://orcid.org/0009-0000-5066-2262", "affiliations": [{"raw_affiliation_string": "ZenusTech Inc.,, Shenzhen, China", "institution_ids": []}]}, {"author_position": "middle", "author": {"id": "https://openalex.org/A5101730660", "display_name": "Yuhang Xu", "orcid": "https://orcid.org/0009-0005-0531-0221", "observed_orcids": ["https://orcid.org/0009-0005-0531-0221"]}, "institutions": [{"id": "https://openalex.org/I183067930", "display_name": "Shanghai Jiao Tong University", "ror": "https://ror.org/0220qvk04", "country_code": "CN", "type": "education", "lineage": ["https://openalex.org/I183067930"]}], "countries": ["CN"], "is_corresponding": false, "raw_author_name": "Yuhang Xu", "raw_affiliation_strings": ["School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China"], "raw_orcid": "https://orcid.org/0009-0005-0531-0221", "affiliations": [{"raw_affiliation_string": "School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China", "institution_ids": ["https://openalex.org/I183067930"]}]}, {"author_position": "middle", "author": {"id": "https://openalex.org/A5100407910", "display_name": "Wenqiang Xu", "orcid": "https://orcid.org/0000-0002-8648-5576", "observed_orcids": ["https://orcid.org/0000-0002-8648-5576", "https://orcid.org/0009-0005-4789-8676"]}, "institutions": [{"id": "https://openalex.org/I183067930", "display_name": "Shanghai Jiao Tong University", "ror": "https://ror.org/0220qvk04", "country_code": "CN", "type": "education", "lineage": ["https://openalex.org/I183067930"]}], "countries": ["CN"], "is_corresponding": false, "raw_author_name": "Wenqiang Xu", "raw_affiliation_strings": ["School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China"], "raw_orcid": "https://orcid.org/0000-0002-8648-5576", "affiliations": [{"raw_affiliation_string": "School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China", "institution_ids": ["https://openalex.org/I183067930"]}]}, {"author_position": "last", "author": {"id": "https://openalex.org/A5101470275", "display_name": "Cewu Lu", "orcid": "https://orcid.org/0000-0003-1533-8576", "observed_orcids": ["https://orcid.org/0000-0003-1533-8576"]}, "institutions": [{"id": "https://openalex.org/I183067930", "display_name": "Shanghai Jiao Tong University", "ror": "https://ror.org/0220qvk04", "country_code": "CN", "type": "education", "lineage": ["https://openalex.org/I183067930"]}], "countries": ["CN"], "is_corresponding": false, "raw_author_name": "Cewu Lu", "raw_affiliation_strings": ["Qing Yuan Research Institute and MoE Key Lab of Artificial Intelligence, AI Institute, Shanghai Jiao Tong University, Shanghai, China"], "raw_orcid": "https://orcid.org/0000-0003-1533-8576", "affiliations": [{"raw_affiliation_string": "Qing Yuan Research Institute and MoE Key Lab of Artificial Intelligence, AI Institute, Shanghai Jiao Tong University, Shanghai, China", "institution_ids": ["https://openalex.org/I183067930"]}]}], "institutions": [], "countries_distinct_count": 1, "institutions_distinct_count": 1, "corresponding_author_ids": [], "corresponding_institution_ids": [], "apc_list": {"value": 2495, "currency": "USD", "value_usd": 2495}, "apc_paid": null, "fwci": 0.9529, "has_fulltext": true, "cited_by_count": 6, "citation_normalized_percentile": {"value": 0.70800086, "is_in_top_1_percent": false, "is_in_top_10_percent": false}, "cited_by_percentile_year": {"min": 89, "max": 97}, "biblio": {"volume": "9", "issue": "5", "first_page": "4487", "last_page": "4494"}, "is_retracted": false, "is_paratext": false, "is_xpac": false, "primary_topic": {"id": "https://openalex.org/T10653", "display_name": "Robot Manipulation and Learning", "score": 0.8925999999046326, "subfield": {"id": "https://openalex.org/subfields/2207", "display_name": "Control and Systems Engineering"}, "field": {"id": "https://openalex.org/fields/22", "display_name": "Engineering"}, "domain": {"id": "https://openalex.org/domains/3", "display_name": "Physical Sciences"}}, "topics": [{"id": "https://openalex.org/T10653", "display_name": "Robot Manipulation and Learning", "score": 0.8925999999046326, "subfield": {"id": "https://openalex.org/subfields/2207", "display_name": "Control and Systems Engineering"}, "field": {"id": "https://openalex.org/fields/22", "display_name": "Engineering"}, "domain": {"id": "https://openalex.org/domains/3", "display_name": "Physical Sciences"}}, {"id": "https://openalex.org/T10868", "display_name": "Soft Robotics and Applications", "score": 0.07209999859333038, "subfield": {"id": "https://openalex.org/subfields/2204", "display_name": "Biomedical Engineering"}, "field": {"id": "https://openalex.org/fields/22", "display_name": "Engineering"}, "domain": {"id": "https://openalex.org/domains/3", "display_name": "Physical Sciences"}}, {"id": "https://openalex.org/T10462", "display_name": "Reinforcement Learning in Robotics", "score": 0.009800000116229057, "subfield": {"id": "https://openalex.org/subfields/1702", "display_name": "Artificial Intelligence"}, "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/robotic-manipulation", "display_name": "robotic manipulation", "score": 0.6380000114440918}, {"id": "https://openalex.org/keywords/soft-objects", "display_name": "soft objects", "score": 0.7400000095367432}, {"id": "https://openalex.org/keywords/physics-simulation", "display_name": "physics simulation", "score": 0.4620000123977661}, {"id": "https://openalex.org/keywords/grasp-generation", "display_name": "grasp generation", "score": 0.7739999890327454}], "concepts": [{"id": "https://openalex.org/C64543145", "wikidata": "https://www.wikidata.org/wiki/Q162942", "display_name": "Intersection (aeronautics)", "level": 2, "score": 0.6977217197418213}, {"id": "https://openalex.org/C41008148", "wikidata": "https://www.wikidata.org/wiki/Q21198", "display_name": "Computer science", "level": 0, "score": 0.5286957025527954}, {"id": "https://openalex.org/C90509273", "wikidata": "https://www.wikidata.org/wiki/Q11012", "display_name": "Robot", "level": 2, "score": 0.5099877119064331}, {"id": "https://openalex.org/C154945302", "wikidata": "https://www.wikidata.org/wiki/Q11660", "display_name": "Artificial intelligence", "level": 1, "score": 0.3715721368789673}, {"id": "https://openalex.org/C31972630", "wikidata": "https://www.wikidata.org/wiki/Q844240", "display_name": "Computer vision", "level": 1, "score": 0.3653041124343872}, {"id": "https://openalex.org/C127413603", "wikidata": "https://www.wikidata.org/wiki/Q11023", "display_name": "Engineering", "level": 0, "score": 0.17738282680511475}, {"id": "https://openalex.org/C146978453", "wikidata": "https://www.wikidata.org/wiki/Q3798668", "display_name": "Aerospace engineering", "level": 1, "score": 0.07562807202339172}], "mesh": [], "locations_count": 3, "locations": [{"id": "doi:10.1109/lra.2024.3381012", "doi": "https://doi.org/10.1109/lra.2024.3381012", "is_oa": false, "landing_page_url": "https://doi.org/10.1109/lra.2024.3381012", "pdf_url": null, "source": {"id": "https://openalex.org/S4210169774", "display_name": "IEEE Robotics and Automation Letters", "issn_l": "2377-3766", "issn": ["2377-3766", "2377-3774"], "is_oa": false, "is_in_doaj": false, "is_core": true, "listed_in": ["cwts-core", "dongbi-b", "jufo-2", "ki-jl-1", "norway-1", "poland-200", "russia-white-list-1", "vabb-shw"], "host_organization": "https://openalex.org/P4310319808", "host_organization_name": "Institute of Electrical and Electronics Engineers", "host_organization_lineage": ["https://openalex.org/P4310319808"], "host_organization_lineage_names": ["Institute of Electrical and Electronics Engineers"], "type": "journal"}, "license": null, "license_id": null, "version": "publishedVersion", "is_accepted": true, "is_published": true, "raw_source_name": "IEEE Robotics and Automation Letters", "raw_type": "journal-article"}, {"id": "pmh:oai:arXiv.org:2311.05945", "doi": null, "is_oa": true, "landing_page_url": "http://arxiv.org/abs/2311.05945", "pdf_url": "https://arxiv.org/pdf/2311.05945", "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": null, "license_id": null, "version": "submittedVersion", "is_accepted": false, "is_published": false, "raw_source_name": null, "raw_type": "text"}, {"id": "doi:10.48550/arxiv.2311.05945", "doi": "https://doi.org/10.48550/arxiv.2311.05945", "is_oa": true, "landing_page_url": "https://doi.org/10.48550/arxiv.2311.05945", "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": null, "license_id": null, "version": null, "is_accepted": false, "is_published": null, "raw_source_name": null, "raw_type": "Preprint"}], "best_oa_location": {"id": "pmh:oai:arXiv.org:2311.05945", "doi": null, "is_oa": true, "landing_page_url": "http://arxiv.org/abs/2311.05945", "pdf_url": "https://arxiv.org/pdf/2311.05945", "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": null, "license_id": null, "version": "submittedVersion", "is_accepted": false, "is_published": false, "raw_source_name": null, "raw_type": "text"}, "sustainable_development_goals": [], "sustainable_development_goals_aurora": [{"score": 0.5199999809265137, "id": "https://metadata.un.org/sdg/10", "display_name": "Reduced inequalities"}], "study_designs": [], "awards": [], "funders": [{"id": "https://openalex.org/F4320321885", "display_name": "Science and Technology Commission of Shanghai Municipality", "ror": "https://ror.org/03kt66j61"}, {"id": "https://openalex.org/F4320335777", "display_name": "National Key Research and Development Program of China", "ror": null}], "has_content": {"pdf": true, "grobid_xml": true}, "content_urls": {"pdf": "https://content.openalex.org/works/W4393104681.pdf", "grobid_xml": "https://content.openalex.org/works/W4393104681.grobid-xml"}, "referenced_works_count": 32, "referenced_works": ["https://openalex.org/W1510186039", "https://openalex.org/W1794703952", "https://openalex.org/W2073592368", "https://openalex.org/W2116817751", "https://openalex.org/W2126496149", "https://openalex.org/W2136014417", "https://openalex.org/W2163296013", "https://openalex.org/W2235036220", "https://openalex.org/W2235901111", "https://openalex.org/W2414685554", "https://openalex.org/W2469863283", "https://openalex.org/W2793955514", "https://openalex.org/W2964156592", "https://openalex.org/W3039599385", "https://openalex.org/W3048889784", "https://openalex.org/W3109952375", "https://openalex.org/W3168575721", "https://openalex.org/W3173446233", "https://openalex.org/W3184236041", "https://openalex.org/W3186881096", "https://openalex.org/W4285102154", "https://openalex.org/W4286611167", "https://openalex.org/W4286615952", "https://openalex.org/W4302010432", "https://openalex.org/W4367016688", "https://openalex.org/W4383108746", "https://openalex.org/W4385416297", "https://openalex.org/W4389666897", "https://openalex.org/W6683153233", "https://openalex.org/W6790030675", "https://openalex.org/W6800004206", "https://openalex.org/W6845756827"], "related_works": ["https://openalex.org/W2058170566", "https://openalex.org/W2755342338", "https://openalex.org/W2772917594", "https://openalex.org/W2775347418", "https://openalex.org/W2166024367", "https://openalex.org/W3116076068", "https://openalex.org/W2229312674", "https://openalex.org/W2951359407", "https://openalex.org/W2079911747", "https://openalex.org/W1969923398"], "abstract_inverted_index": {"This": [0], "paper": [1], "presents": [2], "a": [3, 43], "novel": [4], "simulation": [5, 17, 72], "platform,": [6], "ZeMa,": [7], "designed": [8], "for": [9, 35, 73, 116], "robotic": [10], "manipulation": [11], "tasks": [12], "concerning": [13], "soft": [14, 75], "objects.": [15, 78], "Such": [16], "ideally": [18], "requires": [19], "three": [20], "properties:": [21], "two-way": [22], "soft-rigid": [23, 82], "coupling,": [24], "intersection-free": [25], "guarantee,": [26], "and": [27, 62, 76, 120], "frictional": [28, 107], "contact": [29, 67], "modeling,": [30], "with": [31, 90], "acceptable": [32], "runtime": [33], "suitable": [34], "learning": [36], "tasks.": [37], "Current": [38], "simulators": [39], "often": [40], "satisfy": [41], "only": [42], "subset": [44], "of": [45], "these": [46], "needs,": [47], "primarily": [48], "focusing": [49], "on": [50, 105], "distinct": [51], "rigid-rigid": [52], "or": [53], "soft-soft": [54], "interactions.": [55], "The": [56], "proposed": [57], "ZeMa": [58], "prioritizes": [59], "physical": [60], "accuracy": [61], "integrates": [63], "the": [64, 102, 106], "incremental": [65], "potential": [66], "method,": [68], "offering": [69], "unified": [70], "dynamics": [71], "both": [74], "rigid": [77], "It": [79], "efficiently": [80], "manages": [81], "contact,": [83], "operating": [84], "75x": [85], "faster": [86], "than": [87], "baseline": [88], "tools": [89], "similar": [91], "methodologies": [92], "like": [93], "IPC-GraspSim.": [94], "We": [95], "have": [96], "conducted": [97], "extensive": [98], "experiments": [99], "to": [100], "prove": [101], "accuracy,": [103], "especially": [104], "contact.": [108], "To": [109], "demonstrate": [110], "its": [111], "applicability,": [112], "we": [113], "employ": [114], "it": [115], "parallel": [117], "grasp": [118, 122], "generation": [119], "penetrated": [121], "repair.": [123]}, "counts_by_year": [{"year": 2026, "cited_by_count": 2}, {"year": 2025, "cited_by_count": 3}, {"year": 2024, "cited_by_count": 1}], "updated_date": "2026-10-12T09:40:04.860316", "created_date": "2025-10-10T00:00:00"}], "group_by": []}