@article{instanceagnosticgeometryandcontact,
  title = {Instance-Agnostic Geometry and Contact Dynamics Learning},
  author = {Mengti Sun and Bowen Jiang and Bibit Bianchini and Camillo Jose Taylor and Michael Posa},
  year = {2023},
  eprint = {2309.05832},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2309.05832v2},
}