@article{dprismdifferentiableprimitivesforstructu,
  title = {D-Prism: Differentiable Primitives for Structured Dynamic Modeling},
  author = {Xingyuan Yu and Yijin Li and Chong Zeng and Yuhang Ming and Hujun Bao and Guofeng Zhang},
  year = {2026},
  eprint = {2604.17082},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.17082},
}