{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:6OXUH6ZRUYAOHL7IWIYYFO2S25","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":"6726fe7fbc4d927f96cdee27277d92ba22ff7c78ccaa13297eb862abc2882268","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-16T13:31:26Z","title_canon_sha256":"1ea7d658a77369b0ee9871d5ec44dddd37e61b9f49cc959a0f59b3b3b5133de4"},"schema_version":"1.0","source":{"id":"2412.11764","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.11764","created_at":"2026-07-05T11:07:18Z"},{"alias_kind":"arxiv_version","alias_value":"2412.11764v4","created_at":"2026-07-05T11:07:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.11764","created_at":"2026-07-05T11:07:18Z"},{"alias_kind":"pith_short_12","alias_value":"6OXUH6ZRUYAO","created_at":"2026-07-05T11:07:18Z"},{"alias_kind":"pith_short_16","alias_value":"6OXUH6ZRUYAOHL7I","created_at":"2026-07-05T11:07:18Z"},{"alias_kind":"pith_short_8","alias_value":"6OXUH6ZR","created_at":"2026-07-05T11:07:18Z"}],"graph_snapshots":[{"event_id":"sha256:0b2273068478ae9fc402c2e6242298648ab2385982c2174d8d1e7e5d18596d23","target":"graph","created_at":"2026-07-05T11:07:18Z","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/2412.11764/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Executing precise and agile flight maneuvers is critical for quadrotors in various applications. Traditional quadrotor control approaches are limited by their reliance on flat trajectories or time-consuming optimization, which restricts their flexibility. Recently, RL-based policy has emerged as a promising alternative due to its ability to directly map observations to actions, reducing the need for detailed system knowledge and actuation constraints. However, a significant challenge remains in bridging the sim-to-real gap, where RL-based policies often experience instability when deployed in ","authors_text":"Chao Yu, Feng Gao, Huazhong Yang, Jiayu Chen, Mo Mu, Shilong Ji, Shu'ang Yu, Wenhao Tang, Yinuo Chen, Yi Wu, Yuqing Xie, Yu Wang","cross_cats":["cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-16T13:31:26Z","title":"What Matters in Learning A Zero-Shot Sim-to-Real RL Policy for Quadrotor Control? A Comprehensive Study"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.11764","kind":"arxiv","version":4},"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":"sha256:53b3d1b6d50ad2a8f3ffca681d4f72fde258b63d1d9caa72bff2d1649a744571","target":"record","created_at":"2026-07-05T11:07:18Z","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":"6726fe7fbc4d927f96cdee27277d92ba22ff7c78ccaa13297eb862abc2882268","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-16T13:31:26Z","title_canon_sha256":"1ea7d658a77369b0ee9871d5ec44dddd37e61b9f49cc959a0f59b3b3b5133de4"},"schema_version":"1.0","source":{"id":"2412.11764","kind":"arxiv","version":4}},"canonical_sha256":"f3af43fb31a600e3afe8b23182bb52d774841377bf5f719562eaf57f59592627","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f3af43fb31a600e3afe8b23182bb52d774841377bf5f719562eaf57f59592627","first_computed_at":"2026-07-05T11:07:18.071489Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:07:18.071489Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"EsPgOUqdoFgbbp/7+M06E2S4q/Ff/K8rRjk2iLAWY4sF4jbvkiqoRY635A20cT9KuhXiRKEuF2L0H/URmH4uAg==","signature_status":"signed_v1","signed_at":"2026-07-05T11:07:18.072030Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.11764","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:53b3d1b6d50ad2a8f3ffca681d4f72fde258b63d1d9caa72bff2d1649a744571","sha256:0b2273068478ae9fc402c2e6242298648ab2385982c2174d8d1e7e5d18596d23"],"state_sha256":"6dfc560de9fafb3ad4edb5a1e8e26303ac273d9cf5dcfabc931a5d0d8929998f"}