As another comment notes, the "Restatement of Torts" (and Contracts, &c.) series do that. It's important to note that those documents aren't just a "restatement" but an attempt to reshape the law. (See also the politics of the DSM in medicine...) That's grounds for eyeing those things with some skepticism, since the Restatements are slightly different from what you might think they are. Not just a helpful summary but a push in a particular direction, that is.
There are also a "Uniform Commercial Code" and "Model Penal Code". These are proposed laws developed by US legal scholars based on existing laws stretching back to English common law. The UCC and MPC themselves aren't law, but I believe every state has adopted some version of each. These things are explicitly offered as replacements for previous laws, while retaining the same concepts and cleaning up confusion. For instance, the MPC gives a standard scale of culpability definitions like "intentionally", "knowingly", "recklessly", "negligently", and "general liability". It also explicitly establishes that nothing is illegal unless there's a specific law against it -- very important in preventing oppression. And the UCC codifies older concepts about the default terms in a contract and how it's interpreted, like how a conflict between "I'll sell you 500 red widgets" and "Okay, send me 500 blue widgets" is resolved.