Volume contact constraints at arbitrary resolution
Why this work is in the frame
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Bibliographic record
Abstract
We introduce a new method for simulating frictional contact between volumetric objects using interpenetration volume constraints. When applied to complex geometries, our formulation results in dramatically simpler systems of equations than those of traditional mesh contact models. Contact between highly detailed meshes can be simplified to a single unilateral constraint equation, or accurately processed at arbitrary geometry-independent resolution with simultaneous sticking and sliding across contact patches. We exploit fast GPU methods for computing layered depth images, which provides us with the intersection volumes and gradients necessary to formulate the contact equations as linear complementarity problems. Straightforward and popular numerical methods, such as projected Gauss-Seidel, can be used to solve the system. We demonstrate our method in a number of scenarios and present results involving both rigid and deformable objects at interactive rates.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it