{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:LODFIUAX5BLCFVPDXDSXSTQREN","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":"d742330968e3f14acd76980e7ec9cddc365f6d0c9d4bd6d352aedb02cf2ec53f","cross_cats_sorted":["cs.AI","cs.GR","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-02T03:48:42Z","title_canon_sha256":"f14469fe81ecde1d40a24eb0877d80b435ba4837b6fee40794de8e7870d2405e"},"schema_version":"1.0","source":{"id":"1810.01054","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1810.01054","created_at":"2026-05-18T00:04:19Z"},{"alias_kind":"arxiv_version","alias_value":"1810.01054v1","created_at":"2026-05-18T00:04:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1810.01054","created_at":"2026-05-18T00:04:19Z"},{"alias_kind":"pith_short_12","alias_value":"LODFIUAX5BLC","created_at":"2026-05-18T12:32:37Z"},{"alias_kind":"pith_short_16","alias_value":"LODFIUAX5BLCFVPD","created_at":"2026-05-18T12:32:37Z"},{"alias_kind":"pith_short_8","alias_value":"LODFIUAX","created_at":"2026-05-18T12:32:37Z"}],"graph_snapshots":[{"event_id":"sha256:cdc28ca296d220af07da2fab0a42e862382bacd458cd2ca55bfba63c5e96c3eb","target":"graph","created_at":"2026-05-18T00:04:19Z","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"},"paper":{"abstract_excerpt":"Physical simulators have been widely used in robot planning and control. Among them, differentiable simulators are particularly favored, as they can be incorporated into gradient-based optimization algorithms that are efficient in solving inverse problems such as optimal control and motion planning. Simulating deformable objects is, however, more challenging compared to rigid body dynamics. The underlying physical laws of deformable objects are more complex, and the resulting systems have orders of magnitude more degrees of freedom and therefore they are significantly more computationally expe","authors_text":"Andrew Spielberg, Daniela Rus, Jiajun Wu, Jiancheng Liu, Joshua B. Tenenbaum, William T. Freeman, Wojciech Matusik, Yuanming Hu","cross_cats":["cs.AI","cs.GR","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-02T03:48:42Z","title":"ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Robotics"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1810.01054","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":"sha256:55e6e292c0cd7e56eef4ec47cdadaf42d7a154fde9ffa1dd975a5611c4a38efb","target":"record","created_at":"2026-05-18T00:04:19Z","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":"d742330968e3f14acd76980e7ec9cddc365f6d0c9d4bd6d352aedb02cf2ec53f","cross_cats_sorted":["cs.AI","cs.GR","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-02T03:48:42Z","title_canon_sha256":"f14469fe81ecde1d40a24eb0877d80b435ba4837b6fee40794de8e7870d2405e"},"schema_version":"1.0","source":{"id":"1810.01054","kind":"arxiv","version":1}},"canonical_sha256":"5b86545017e85622d5e3b8e5794e11237509720c4b5edda4e9dd504e5e843d09","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5b86545017e85622d5e3b8e5794e11237509720c4b5edda4e9dd504e5e843d09","first_computed_at":"2026-05-18T00:04:19.021692Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:04:19.021692Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ax2yGgMSUq8MGJJAl4VxiYgH3ppcmWD73jRU/JPuVPo3HZotT65esiBKNWD9ADTGKh7nlinR8OIu4Y6OcHOODw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:04:19.022214Z","signed_message":"canonical_sha256_bytes"},"source_id":"1810.01054","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:55e6e292c0cd7e56eef4ec47cdadaf42d7a154fde9ffa1dd975a5611c4a38efb","sha256:cdc28ca296d220af07da2fab0a42e862382bacd458cd2ca55bfba63c5e96c3eb"],"state_sha256":"5545c2fcd190f4f4e5f31d9fb1edf989e4cb83ef0b7e8e31a795c1ffa76368cf"}