CENIC: Convex Error-controlled Numerical Integration for Contact

arXiv:2511.08771 · cs.RO, cs.CE, physics.comp-ph · Submitted 2025-11-11 · Read on arXiv

cs.RO, cs.CE, physics.comp-ph

Submitted: 2025-11-11

Updated: 2026-10-22

Code: https://github.com/Genesis-Embodied-AI/Genesis

Project page: https://leggedrobotics.github.io/SimBenchmark

Terminology

• Accuracy — 62× in this paper · explained in 1 episode
• Adam — 12× in this paper · explained in 2 episodes
• Regularization — 7× in this paper · explained in 3 episodes
• Robustness — 5× in this paper · explained in 6 episodes
• Consistency — 4× in this paper · explained in 3 episodes
• Convergence Guarantees — 4× in this paper · explained in 3 episodes
• Sim-to-Real Transfer — 4× in this paper · explained in 2 episodes
• Verification — 4× in this paper · explained in 2 episodes
• Benchmark — 3× in this paper · explained in 2 episodes
• PID Controller — 3× in this paper · explained in 2 episodes
• Planner — 3× in this paper · explained in 3 episodes
• ACM Transactions on Graphics — 2× in this paper
• Chaotic Dynamics — 2× in this paper · explained in 2 episodes
• Clarity — 2× in this paper · explained in 3 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Core — 1× in this paper · explained in 2 episodes
• Feedback Loop — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Hysteresis — 1× in this paper · explained in 3 episodes
• Modularity — 1× in this paper · explained in 9 episodes
• Ordinary Differential Equations (ODEs) — 1× in this paper · explained in 2 episodes
• Parameterization — 1× in this paper · explained in 2 episodes
• Theoretical Guarantees — 1× in this paper · explained in 2 episodes
• Uncertainty Quantification — 1× in this paper · explained in 9 episodes
• Uncertainty Quantification (UQ) — 1× in this paper · explained in 3 episodes

Sources

• Irrotational Contact Fields
• Dojo: A Differentiable Physics Engine for Robotics
• From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach
• A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation

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