{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:2JCQJ4QQIAPNTVNXGGABIH6LV6","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"571c13535473c5b47c3e2364e903d7d8127931abcbd00b047a51912646ab67ce","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-03T12:25:23Z","title_canon_sha256":"088a0979350afbd812d31fb2c1bcb997a558dc7d863cc0c83743683185681f2c"},"schema_version":"1.0","source":{"id":"2503.01471","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.01471","created_at":"2026-07-05T10:23:07Z"},{"alias_kind":"arxiv_version","alias_value":"2503.01471v1","created_at":"2026-07-05T10:23:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.01471","created_at":"2026-07-05T10:23:07Z"},{"alias_kind":"pith_short_12","alias_value":"2JCQJ4QQIAPN","created_at":"2026-07-05T10:23:07Z"},{"alias_kind":"pith_short_16","alias_value":"2JCQJ4QQIAPNTVNX","created_at":"2026-07-05T10:23:07Z"},{"alias_kind":"pith_short_8","alias_value":"2JCQJ4QQ","created_at":"2026-07-05T10:23:07Z"}],"graph_snapshots":[{"event_id":"sha256:5d94479165ac765ba5120bcd26b4e67d0d0e0258969bb3d4beec5c787ad02776","target":"graph","created_at":"2026-07-05T10:23:07Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2503.01471/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper contributes the Aerial Gym Simulator, a highly parallelized, modular framework for simulation and rendering of arbitrary multirotor platforms based on NVIDIA Isaac Gym. Aerial Gym supports the simulation of under-, fully- and over-actuated multirotors offering parallelized geometric controllers, alongside a custom GPU-accelerated rendering framework for ray-casting capable of capturing depth, segmentation and vertex-level annotations from the environment. Multiple examples for key tasks, such as depth-based navigation through reinforcement learning are provided. The comprehensive se","authors_text":"Kostas Alexis, Mihir Kulkarni, Welf Rehberg","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-03T12:25:23Z","title":"Aerial Gym Simulator: A Framework for Highly Parallelized Simulation of Aerial Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.01471","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:c1a64d83b12301b6ce147df08779eefbbbc11500415a2cd6e26f71e93dac7ea0","target":"record","created_at":"2026-07-05T10:23:07Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"571c13535473c5b47c3e2364e903d7d8127931abcbd00b047a51912646ab67ce","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-03T12:25:23Z","title_canon_sha256":"088a0979350afbd812d31fb2c1bcb997a558dc7d863cc0c83743683185681f2c"},"schema_version":"1.0","source":{"id":"2503.01471","kind":"arxiv","version":1}},"canonical_sha256":"d24504f210401ed9d5b73180141fcbaf82f503feb88adae1202369942fbfefa4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d24504f210401ed9d5b73180141fcbaf82f503feb88adae1202369942fbfefa4","first_computed_at":"2026-07-05T10:23:07.720498Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:23:07.720498Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"MdDYQnrL5jO0IFue93rPZfpcnWEPb9xfA1eXwRy8hQXpUaAZMkfsvgU6nvgJnYj2oEOdAVkNHl1BSNpzr9maDA==","signature_status":"signed_v1","signed_at":"2026-07-05T10:23:07.721123Z","signed_message":"canonical_sha256_bytes"},"source_id":"2503.01471","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c1a64d83b12301b6ce147df08779eefbbbc11500415a2cd6e26f71e93dac7ea0","sha256:5d94479165ac765ba5120bcd26b4e67d0d0e0258969bb3d4beec5c787ad02776"],"state_sha256":"f48bec579c117bd77d486c8c25a9f667f04ef1fa075ef83a58e6073435bc3a45"}