{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:GSMPKOZ72R7QDVVGZGXIGFNLC2","short_pith_number":"pith:GSMPKOZ7","canonical_record":{"source":{"id":"2401.11542","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-21T16:51:07Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"e54154b2580fe089e05cfcdcb321a25609c4567399ffd967070de144988cad36","abstract_canon_sha256":"5101007517991a0d52c507ba3f4f348356cd141f908ab317757357e748557e1e"},"schema_version":"1.0"},"canonical_sha256":"3498f53b3fd47f01d6a6c9ae8315ab168b55750f8e7eaa9b1334b5b122c114aa","source":{"kind":"arxiv","id":"2401.11542","version":4},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2401.11542","created_at":"2026-07-05T11:46:33Z"},{"alias_kind":"arxiv_version","alias_value":"2401.11542v4","created_at":"2026-07-05T11:46:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2401.11542","created_at":"2026-07-05T11:46:33Z"},{"alias_kind":"pith_short_12","alias_value":"GSMPKOZ72R7Q","created_at":"2026-07-05T11:46:33Z"},{"alias_kind":"pith_short_16","alias_value":"GSMPKOZ72R7QDVVG","created_at":"2026-07-05T11:46:33Z"},{"alias_kind":"pith_short_8","alias_value":"GSMPKOZ7","created_at":"2026-07-05T11:46:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:GSMPKOZ72R7QDVVGZGXIGFNLC2","target":"record","payload":{"canonical_record":{"source":{"id":"2401.11542","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-21T16:51:07Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"e54154b2580fe089e05cfcdcb321a25609c4567399ffd967070de144988cad36","abstract_canon_sha256":"5101007517991a0d52c507ba3f4f348356cd141f908ab317757357e748557e1e"},"schema_version":"1.0"},"canonical_sha256":"3498f53b3fd47f01d6a6c9ae8315ab168b55750f8e7eaa9b1334b5b122c114aa","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:46:33.876966Z","signature_b64":"7HRn2V/3ifeXQv2kXTM/G3hKTtbJQQoAQTYq2lXiHLe89goNNZ35zZeHIwRXv6hK1ZLyWD8sPYYZq+bGWU06Dg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3498f53b3fd47f01d6a6c9ae8315ab168b55750f8e7eaa9b1334b5b122c114aa","last_reissued_at":"2026-07-05T11:46:33.876345Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:46:33.876345Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2401.11542","source_version":4,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T11:46:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hcumRsUG+uCEidLS3XUeI/nDdJQCSUCIh8azJ4ZC8tzdtAHEqeaZ37Q2w+YdsDun+bNSfOd8X21FT8ESlFTQDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-08T16:01:52.803350Z"},"content_sha256":"e5512e0cf86d48c22af64c2ad844d032ddef5bcf1b11e7a31da01851eda44fad","schema_version":"1.0","event_id":"sha256:e5512e0cf86d48c22af64c2ad844d032ddef5bcf1b11e7a31da01851eda44fad"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:GSMPKOZ72R7QDVVGZGXIGFNLC2","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Nigel -- Mechatronic Design and Robust Sim2Real Control of an Over-Actuated Autonomous Vehicle","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Chinmay Vilas Samak, Javad Mohammadpour Velni, Tanmay Vilas Samak, Venkat Narayan Krovi","submitted_at":"2024-01-21T16:51:07Z","abstract_excerpt":"Simulation to reality (sim2real) transfer from a dynamics and controls perspective usually involves re-tuning or adapting the designed algorithms to suit real-world operating conditions, which often violates the performance guarantees established originally. This work presents a generalizable framework for achieving reliable sim2real transfer of autonomy-oriented control systems using multi-model multi-objective robust optimal control synthesis, which lends well to uncertainty handling and disturbance rejection with theoretical guarantees. Particularly, this work is centered around a novel act"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.11542","kind":"arxiv","version":4},"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/2401.11542/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":"2026-07-05T11:46:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2ExXSKnMvitV7/fin6ORw5CkTkmrJHrAbJAbhUKy+XOU0adZMX6TNErhpmHz9XUjjGXIrh9KJ8klgU6P6GvIBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-08T16:01:52.803737Z"},"content_sha256":"20944ce09c10b158f680eca77e98a615275d54fc1e9c633c3113b1f01815f455","schema_version":"1.0","event_id":"sha256:20944ce09c10b158f680eca77e98a615275d54fc1e9c633c3113b1f01815f455"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GSMPKOZ72R7QDVVGZGXIGFNLC2/bundle.json","state_url":"https://pith.science/pith/GSMPKOZ72R7QDVVGZGXIGFNLC2/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GSMPKOZ72R7QDVVGZGXIGFNLC2/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":"2026-07-08T16:01:52Z","links":{"resolver":"https://pith.science/pith/GSMPKOZ72R7QDVVGZGXIGFNLC2","bundle":"https://pith.science/pith/GSMPKOZ72R7QDVVGZGXIGFNLC2/bundle.json","state":"https://pith.science/pith/GSMPKOZ72R7QDVVGZGXIGFNLC2/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GSMPKOZ72R7QDVVGZGXIGFNLC2/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:GSMPKOZ72R7QDVVGZGXIGFNLC2","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":"5101007517991a0d52c507ba3f4f348356cd141f908ab317757357e748557e1e","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-21T16:51:07Z","title_canon_sha256":"e54154b2580fe089e05cfcdcb321a25609c4567399ffd967070de144988cad36"},"schema_version":"1.0","source":{"id":"2401.11542","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2401.11542","created_at":"2026-07-05T11:46:33Z"},{"alias_kind":"arxiv_version","alias_value":"2401.11542v4","created_at":"2026-07-05T11:46:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2401.11542","created_at":"2026-07-05T11:46:33Z"},{"alias_kind":"pith_short_12","alias_value":"GSMPKOZ72R7Q","created_at":"2026-07-05T11:46:33Z"},{"alias_kind":"pith_short_16","alias_value":"GSMPKOZ72R7QDVVG","created_at":"2026-07-05T11:46:33Z"},{"alias_kind":"pith_short_8","alias_value":"GSMPKOZ7","created_at":"2026-07-05T11:46:33Z"}],"graph_snapshots":[{"event_id":"sha256:20944ce09c10b158f680eca77e98a615275d54fc1e9c633c3113b1f01815f455","target":"graph","created_at":"2026-07-05T11:46:33Z","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/2401.11542/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Simulation to reality (sim2real) transfer from a dynamics and controls perspective usually involves re-tuning or adapting the designed algorithms to suit real-world operating conditions, which often violates the performance guarantees established originally. This work presents a generalizable framework for achieving reliable sim2real transfer of autonomy-oriented control systems using multi-model multi-objective robust optimal control synthesis, which lends well to uncertainty handling and disturbance rejection with theoretical guarantees. Particularly, this work is centered around a novel act","authors_text":"Chinmay Vilas Samak, Javad Mohammadpour Velni, Tanmay Vilas Samak, Venkat Narayan Krovi","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-21T16:51:07Z","title":"Nigel -- Mechatronic Design and Robust Sim2Real Control of an Over-Actuated Autonomous Vehicle"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.11542","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:e5512e0cf86d48c22af64c2ad844d032ddef5bcf1b11e7a31da01851eda44fad","target":"record","created_at":"2026-07-05T11:46:33Z","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":"5101007517991a0d52c507ba3f4f348356cd141f908ab317757357e748557e1e","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-21T16:51:07Z","title_canon_sha256":"e54154b2580fe089e05cfcdcb321a25609c4567399ffd967070de144988cad36"},"schema_version":"1.0","source":{"id":"2401.11542","kind":"arxiv","version":4}},"canonical_sha256":"3498f53b3fd47f01d6a6c9ae8315ab168b55750f8e7eaa9b1334b5b122c114aa","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3498f53b3fd47f01d6a6c9ae8315ab168b55750f8e7eaa9b1334b5b122c114aa","first_computed_at":"2026-07-05T11:46:33.876345Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:46:33.876345Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"7HRn2V/3ifeXQv2kXTM/G3hKTtbJQQoAQTYq2lXiHLe89goNNZ35zZeHIwRXv6hK1ZLyWD8sPYYZq+bGWU06Dg==","signature_status":"signed_v1","signed_at":"2026-07-05T11:46:33.876966Z","signed_message":"canonical_sha256_bytes"},"source_id":"2401.11542","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e5512e0cf86d48c22af64c2ad844d032ddef5bcf1b11e7a31da01851eda44fad","sha256:20944ce09c10b158f680eca77e98a615275d54fc1e9c633c3113b1f01815f455"],"state_sha256":"1329a3b87fd2d00dbd9a3cb27745155eee7a0afea07e4b043fc698dc8fe96d3a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ucbP3Ukf7TLdohZz8aJxQCGXFgJssu1ld3KrFEv6YfzaYsdJemX3Vao2tNDlOclt4U+H5NGerOrjR3ZR9nxPAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-08T16:01:52.805774Z","bundle_sha256":"c0d26cedb54302d87f529c10c75602f7f5b6a05c99bce7c6e72d5bff597aaaa1"}}