We construct four-dimensional gravity theories that resolve the Schwarzschild singularity and enable dynamical studies of nonsingular gravitational collapse. The construction employs a class of nonpolynomial curvature invariants that produce actions with (i) second-order equations of motion in spherical symmetry and (ii) a Birkhoff theorem, ensuring uniqueness of the spherically symmetric solution. Upon spherical reduction to two dimensions, these theories map to a particular subclass of Horndeski scalar-tensor models, which we use to explicitly verify the formation of regular black holes as the by-product of the collapse of pressureless stars and thin shells. We also show that linear perturbations on top of maximally symmetric backgrounds are governed by second-order equations.

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• Alternative gravity theories
• Classical black holes