@article{contactnetslearningofdiscontinuouscontac,
  title = {ContactNets: Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations},
  author = {Samuel Pfrommer and Mathew Halm and Michael Posa},
  year = {2020},
  eprint = {2009.11193},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2009.11193v2},
}