{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:5GLVYVTEULXDIZG7KK777G4HXP","short_pith_number":"pith:5GLVYVTE","canonical_record":{"source":{"id":"2207.00167","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"stat.ML","submitted_at":"2022-06-28T17:08:53Z","cross_cats_sorted":["cs.LG","cs.RO"],"title_canon_sha256":"f604312b40691baf943084daf76280bdfefd238dbbddb61bcd14b4c267c690f4","abstract_canon_sha256":"c7e94dfd0b4db6ae3703405248f2e6b5ab41ed790f6d59b6f511c8259079f92b"},"schema_version":"1.0"},"canonical_sha256":"e9975c5664a2ee3464df52bfff9b87bbe254d438a4ab3ec5e6eec45faead4aef","source":{"kind":"arxiv","id":"2207.00167","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2207.00167","created_at":"2026-07-05T04:36:40Z"},{"alias_kind":"arxiv_version","alias_value":"2207.00167v1","created_at":"2026-07-05T04:36:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2207.00167","created_at":"2026-07-05T04:36:40Z"},{"alias_kind":"pith_short_12","alias_value":"5GLVYVTEULXD","created_at":"2026-07-05T04:36:40Z"},{"alias_kind":"pith_short_16","alias_value":"5GLVYVTEULXDIZG7","created_at":"2026-07-05T04:36:40Z"},{"alias_kind":"pith_short_8","alias_value":"5GLVYVTE","created_at":"2026-07-05T04:36:40Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:5GLVYVTEULXDIZG7KK777G4HXP","target":"record","payload":{"canonical_record":{"source":{"id":"2207.00167","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"stat.ML","submitted_at":"2022-06-28T17:08:53Z","cross_cats_sorted":["cs.LG","cs.RO"],"title_canon_sha256":"f604312b40691baf943084daf76280bdfefd238dbbddb61bcd14b4c267c690f4","abstract_canon_sha256":"c7e94dfd0b4db6ae3703405248f2e6b5ab41ed790f6d59b6f511c8259079f92b"},"schema_version":"1.0"},"canonical_sha256":"e9975c5664a2ee3464df52bfff9b87bbe254d438a4ab3ec5e6eec45faead4aef","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:36:40.066043Z","signature_b64":"PgciVR+L+fW7IvPeVvwsW8bkghXMEGZyK338XCV7rNzPSkH1pt3Rnia0x91ALQ1j+u8x80iq7io1uTSomMJfAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e9975c5664a2ee3464df52bfff9b87bbe254d438a4ab3ec5e6eec45faead4aef","last_reissued_at":"2026-07-05T04:36:40.065613Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:36:40.065613Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2207.00167","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:36:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Rm5C5nzYOcB7b3IH6Vaf9xQOgZkODkGgsRDAY6rFKAKys8i1VeCyYu8A/hO2ouItRzkyhaazRFSfmmMvMr1LBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T21:27:36.047482Z"},"content_sha256":"e43dc255bfcc32d3b90c08bd699ebc8cfeacf2965fc52ebfc45216e05d9fa712","schema_version":"1.0","event_id":"sha256:e43dc255bfcc32d3b90c08bd699ebc8cfeacf2965fc52ebfc45216e05d9fa712"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:5GLVYVTEULXDIZG7KK777G4HXP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Rethinking Optimization with Differentiable Simulation from a Global Perspective","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.RO"],"primary_cat":"stat.ML","authors_text":"Jeannette Bohg, Jingyun Yang, Krishna Murthy Jatavallabhula, Rika Antonova","submitted_at":"2022-06-28T17:08:53Z","abstract_excerpt":"Differentiable simulation is a promising toolkit for fast gradient-based policy optimization and system identification. However, existing approaches to differentiable simulation have largely tackled scenarios where obtaining smooth gradients has been relatively easy, such as systems with mostly smooth dynamics. In this work, we study the challenges that differentiable simulation presents when it is not feasible to expect that a single descent reaches a global optimum, which is often a problem in contact-rich scenarios. We analyze the optimization landscapes of diverse scenarios that contain bo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2207.00167","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2207.00167/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:36:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dPxH09hMdPIZoK0XuDvlRuMOjKqt2V8ke7hggtatzq3OawwrEPWMhU7wl4FhXCyzOI9vwfWGMx2vAFMoyR2ZDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T21:27:36.048386Z"},"content_sha256":"f67c5781698e16bf85224a87aa738d3bf37209ecd9c0bfb940440922c418fc6e","schema_version":"1.0","event_id":"sha256:f67c5781698e16bf85224a87aa738d3bf37209ecd9c0bfb940440922c418fc6e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5GLVYVTEULXDIZG7KK777G4HXP/bundle.json","state_url":"https://pith.science/pith/5GLVYVTEULXDIZG7KK777G4HXP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5GLVYVTEULXDIZG7KK777G4HXP/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-16T21:27:36Z","links":{"resolver":"https://pith.science/pith/5GLVYVTEULXDIZG7KK777G4HXP","bundle":"https://pith.science/pith/5GLVYVTEULXDIZG7KK777G4HXP/bundle.json","state":"https://pith.science/pith/5GLVYVTEULXDIZG7KK777G4HXP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5GLVYVTEULXDIZG7KK777G4HXP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:5GLVYVTEULXDIZG7KK777G4HXP","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":"c7e94dfd0b4db6ae3703405248f2e6b5ab41ed790f6d59b6f511c8259079f92b","cross_cats_sorted":["cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"stat.ML","submitted_at":"2022-06-28T17:08:53Z","title_canon_sha256":"f604312b40691baf943084daf76280bdfefd238dbbddb61bcd14b4c267c690f4"},"schema_version":"1.0","source":{"id":"2207.00167","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2207.00167","created_at":"2026-07-05T04:36:40Z"},{"alias_kind":"arxiv_version","alias_value":"2207.00167v1","created_at":"2026-07-05T04:36:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2207.00167","created_at":"2026-07-05T04:36:40Z"},{"alias_kind":"pith_short_12","alias_value":"5GLVYVTEULXD","created_at":"2026-07-05T04:36:40Z"},{"alias_kind":"pith_short_16","alias_value":"5GLVYVTEULXDIZG7","created_at":"2026-07-05T04:36:40Z"},{"alias_kind":"pith_short_8","alias_value":"5GLVYVTE","created_at":"2026-07-05T04:36:40Z"}],"graph_snapshots":[{"event_id":"sha256:f67c5781698e16bf85224a87aa738d3bf37209ecd9c0bfb940440922c418fc6e","target":"graph","created_at":"2026-07-05T04:36:40Z","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/2207.00167/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Differentiable simulation is a promising toolkit for fast gradient-based policy optimization and system identification. However, existing approaches to differentiable simulation have largely tackled scenarios where obtaining smooth gradients has been relatively easy, such as systems with mostly smooth dynamics. In this work, we study the challenges that differentiable simulation presents when it is not feasible to expect that a single descent reaches a global optimum, which is often a problem in contact-rich scenarios. We analyze the optimization landscapes of diverse scenarios that contain bo","authors_text":"Jeannette Bohg, Jingyun Yang, Krishna Murthy Jatavallabhula, Rika Antonova","cross_cats":["cs.LG","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"stat.ML","submitted_at":"2022-06-28T17:08:53Z","title":"Rethinking Optimization with Differentiable Simulation from a Global Perspective"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2207.00167","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:e43dc255bfcc32d3b90c08bd699ebc8cfeacf2965fc52ebfc45216e05d9fa712","target":"record","created_at":"2026-07-05T04:36:40Z","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":"c7e94dfd0b4db6ae3703405248f2e6b5ab41ed790f6d59b6f511c8259079f92b","cross_cats_sorted":["cs.LG","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"stat.ML","submitted_at":"2022-06-28T17:08:53Z","title_canon_sha256":"f604312b40691baf943084daf76280bdfefd238dbbddb61bcd14b4c267c690f4"},"schema_version":"1.0","source":{"id":"2207.00167","kind":"arxiv","version":1}},"canonical_sha256":"e9975c5664a2ee3464df52bfff9b87bbe254d438a4ab3ec5e6eec45faead4aef","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e9975c5664a2ee3464df52bfff9b87bbe254d438a4ab3ec5e6eec45faead4aef","first_computed_at":"2026-07-05T04:36:40.065613Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:36:40.065613Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"PgciVR+L+fW7IvPeVvwsW8bkghXMEGZyK338XCV7rNzPSkH1pt3Rnia0x91ALQ1j+u8x80iq7io1uTSomMJfAg==","signature_status":"signed_v1","signed_at":"2026-07-05T04:36:40.066043Z","signed_message":"canonical_sha256_bytes"},"source_id":"2207.00167","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e43dc255bfcc32d3b90c08bd699ebc8cfeacf2965fc52ebfc45216e05d9fa712","sha256:f67c5781698e16bf85224a87aa738d3bf37209ecd9c0bfb940440922c418fc6e"],"state_sha256":"61c927026802ca1bf4a879a35e5b63e6f975a2ce53e3a903c6d595ba13e3dd10"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OHQpATKOw9yHcbk7pJdAqQUaVwCmQDaSdy9uVc34QJs0Gg6vkBC6Werda+UtajqH6PP1r1vg4ibT2tEGasNkAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-16T21:27:36.053007Z","bundle_sha256":"e0dde50464520d75a603e439f7bfcc7e5b65c0974a3b795c97165a6083224773"}}