{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:HT23K3M3LO6YSBCHJNZGXHYBIO","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":"2a8485cd49b25da2cf09da3445284fbf42ef678934e569dea91d20b43f362204","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-10-21T16:01:05Z","title_canon_sha256":"daf5a9edb85e7fd2f0cf3a721080808b863019364237ec5f59984261de8870e7"},"schema_version":"1.0","source":{"id":"1910.09471","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1910.09471","created_at":"2026-07-05T00:13:33Z"},{"alias_kind":"arxiv_version","alias_value":"1910.09471v1","created_at":"2026-07-05T00:13:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1910.09471","created_at":"2026-07-05T00:13:33Z"},{"alias_kind":"pith_short_12","alias_value":"HT23K3M3LO6Y","created_at":"2026-07-05T00:13:33Z"},{"alias_kind":"pith_short_16","alias_value":"HT23K3M3LO6YSBCH","created_at":"2026-07-05T00:13:33Z"},{"alias_kind":"pith_short_8","alias_value":"HT23K3M3","created_at":"2026-07-05T00:13:33Z"}],"graph_snapshots":[{"event_id":"sha256:81121bbf02b245d74f2892e4dc3e14dfc0776f8b440d0f81719dbc42ee16e36d","target":"graph","created_at":"2026-07-05T00:13:33Z","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/1910.09471/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Learning robotic control policies in the real world gives rise to challenges in data efficiency, safety, and controlling the initial condition of the system. On the other hand, simulations are a useful alternative as they provide an abundant source of data without the restrictions of the real world. Unfortunately, simulations often fail to accurately model complex real-world phenomena. Traditional system identification techniques are limited in expressiveness by the analytical model parameters, and usually are not sufficient to capture such phenomena. In this paper we propose a general framewo","authors_text":"Abbas Abdolmaleki, Francesco Nori, Francesco Romano, Jackie Kay, Rae Jeong, Thomas Lampe, Tom Erez, Tom Rothorl, Yuval Tassa","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-10-21T16:01:05Z","title":"Modelling Generalized Forces with Reinforcement Learning for Sim-to-Real Transfer"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1910.09471","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":"sha256:38116b027490ea53d28b5cb9145a8026b3c580e4a78b7fc6e160f8fa721422f5","target":"record","created_at":"2026-07-05T00:13:33Z","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":"2a8485cd49b25da2cf09da3445284fbf42ef678934e569dea91d20b43f362204","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-10-21T16:01:05Z","title_canon_sha256":"daf5a9edb85e7fd2f0cf3a721080808b863019364237ec5f59984261de8870e7"},"schema_version":"1.0","source":{"id":"1910.09471","kind":"arxiv","version":1}},"canonical_sha256":"3cf5b56d9b5bbd8904474b726b9f01439e8a5f20a5c99375174ce40fcf0f6f28","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3cf5b56d9b5bbd8904474b726b9f01439e8a5f20a5c99375174ce40fcf0f6f28","first_computed_at":"2026-07-05T00:13:33.974781Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:13:33.974781Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1HhVZTe+j2kZac7TlatrZfpoX+COz0pHZd5JHQiaKf5qKikGnCsnIT+6tElUPXC3ZuqpNahDyjJeWFqEkdxJCA==","signature_status":"signed_v1","signed_at":"2026-07-05T00:13:33.975217Z","signed_message":"canonical_sha256_bytes"},"source_id":"1910.09471","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:38116b027490ea53d28b5cb9145a8026b3c580e4a78b7fc6e160f8fa721422f5","sha256:81121bbf02b245d74f2892e4dc3e14dfc0776f8b440d0f81719dbc42ee16e36d"],"state_sha256":"9112342c7eebdfa8cfc3820db801bae83e5485191a850453ad9755fe5368c25b"}