{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:N2PQ6JJZCA5IZWDKXOIYBRFVZN","short_pith_number":"pith:N2PQ6JJZ","canonical_record":{"source":{"id":"2411.10935","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-17T02:18:21Z","cross_cats_sorted":["cs.IT","math.IT"],"title_canon_sha256":"3a435c937e59b3fa6a7bd3537b37f5d956aabf5c8601b128ee658a9f358c1ef1","abstract_canon_sha256":"f4469d733015eeed6470cf2b53b16d3fe2fad0765e69931247ea00c2a9956f62"},"schema_version":"1.0"},"canonical_sha256":"6e9f0f2539103a8cd86abb9180c4b5cb775914176675f17e0587742d1663807b","source":{"kind":"arxiv","id":"2411.10935","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.10935","created_at":"2026-07-05T09:41:03Z"},{"alias_kind":"arxiv_version","alias_value":"2411.10935v2","created_at":"2026-07-05T09:41:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.10935","created_at":"2026-07-05T09:41:03Z"},{"alias_kind":"pith_short_12","alias_value":"N2PQ6JJZCA5I","created_at":"2026-07-05T09:41:03Z"},{"alias_kind":"pith_short_16","alias_value":"N2PQ6JJZCA5IZWDK","created_at":"2026-07-05T09:41:03Z"},{"alias_kind":"pith_short_8","alias_value":"N2PQ6JJZ","created_at":"2026-07-05T09:41:03Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:N2PQ6JJZCA5IZWDKXOIYBRFVZN","target":"record","payload":{"canonical_record":{"source":{"id":"2411.10935","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-17T02:18:21Z","cross_cats_sorted":["cs.IT","math.IT"],"title_canon_sha256":"3a435c937e59b3fa6a7bd3537b37f5d956aabf5c8601b128ee658a9f358c1ef1","abstract_canon_sha256":"f4469d733015eeed6470cf2b53b16d3fe2fad0765e69931247ea00c2a9956f62"},"schema_version":"1.0"},"canonical_sha256":"6e9f0f2539103a8cd86abb9180c4b5cb775914176675f17e0587742d1663807b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:41:03.614519Z","signature_b64":"78Edxu7sTPAl/JCuT/fWk18YG7+vgeqhOFkMA1jEokIN8adRtFipO7nS1nx/pFk4EHx0tGlWUH5SQwn6zauwCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6e9f0f2539103a8cd86abb9180c4b5cb775914176675f17e0587742d1663807b","last_reissued_at":"2026-07-05T09:41:03.614019Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:41:03.614019Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2411.10935","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:41:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AUD+VWx2GYtD66T4SGcLEj7RxCI6SXNlT4Buhcx74aNL8WrqhbzRJgtc30MIwulJfqeEaGlPP94QK9oquUFTDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T05:51:41.496639Z"},"content_sha256":"f378540c8753d7c05c1da4845e12c798a419e4bc84aa3e79e2d545014086cb5d","schema_version":"1.0","event_id":"sha256:f378540c8753d7c05c1da4845e12c798a419e4bc84aa3e79e2d545014086cb5d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:N2PQ6JJZCA5IZWDKXOIYBRFVZN","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Exciting Contact Modes in Differentiable Simulations for Robot Learning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.IT","math.IT"],"primary_cat":"cs.RO","authors_text":"Hrishikesh Sathyanarayan, Ian Abraham","submitted_at":"2024-11-17T02:18:21Z","abstract_excerpt":"In this paper, we explore an approach to actively plan and excite contact modes in differentiable simulators as a means to tighten the sim-to-real gap. We propose an optimal experimental design approach derived from information-theoretic methods to identify and search for information-rich contact modes through the use of contact-implicit optimization. We demonstrate our approach on a robot parameter estimation problem with unknown inertial and kinematic parameters which actively seeks contacts with a nearby surface. We show that our approach improves the identification of unknown parameter est"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.10935","kind":"arxiv","version":2},"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/2411.10935/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":"2026-07-05T09:41:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3TGRG8bv5LuXzx/HY2OS6JqyrGkYA5mlBp4uLA8rmNeWW2mSe5gtMPYoFRlduu35a1a4tdo2+Lk0snGWEijXCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T05:51:41.497162Z"},"content_sha256":"dadc3770ba22e34b9ae056fd5919ae7188c82847ab44e514d1701614a798bcf5","schema_version":"1.0","event_id":"sha256:dadc3770ba22e34b9ae056fd5919ae7188c82847ab44e514d1701614a798bcf5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/N2PQ6JJZCA5IZWDKXOIYBRFVZN/bundle.json","state_url":"https://pith.science/pith/N2PQ6JJZCA5IZWDKXOIYBRFVZN/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/N2PQ6JJZCA5IZWDKXOIYBRFVZN/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":"2026-08-19T05:51:41Z","links":{"resolver":"https://pith.science/pith/N2PQ6JJZCA5IZWDKXOIYBRFVZN","bundle":"https://pith.science/pith/N2PQ6JJZCA5IZWDKXOIYBRFVZN/bundle.json","state":"https://pith.science/pith/N2PQ6JJZCA5IZWDKXOIYBRFVZN/state.json","well_known_bundle":"https://pith.science/.well-known/pith/N2PQ6JJZCA5IZWDKXOIYBRFVZN/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:N2PQ6JJZCA5IZWDKXOIYBRFVZN","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":"f4469d733015eeed6470cf2b53b16d3fe2fad0765e69931247ea00c2a9956f62","cross_cats_sorted":["cs.IT","math.IT"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-17T02:18:21Z","title_canon_sha256":"3a435c937e59b3fa6a7bd3537b37f5d956aabf5c8601b128ee658a9f358c1ef1"},"schema_version":"1.0","source":{"id":"2411.10935","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.10935","created_at":"2026-07-05T09:41:03Z"},{"alias_kind":"arxiv_version","alias_value":"2411.10935v2","created_at":"2026-07-05T09:41:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.10935","created_at":"2026-07-05T09:41:03Z"},{"alias_kind":"pith_short_12","alias_value":"N2PQ6JJZCA5I","created_at":"2026-07-05T09:41:03Z"},{"alias_kind":"pith_short_16","alias_value":"N2PQ6JJZCA5IZWDK","created_at":"2026-07-05T09:41:03Z"},{"alias_kind":"pith_short_8","alias_value":"N2PQ6JJZ","created_at":"2026-07-05T09:41:03Z"}],"graph_snapshots":[{"event_id":"sha256:dadc3770ba22e34b9ae056fd5919ae7188c82847ab44e514d1701614a798bcf5","target":"graph","created_at":"2026-07-05T09:41:03Z","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/2411.10935/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we explore an approach to actively plan and excite contact modes in differentiable simulators as a means to tighten the sim-to-real gap. We propose an optimal experimental design approach derived from information-theoretic methods to identify and search for information-rich contact modes through the use of contact-implicit optimization. We demonstrate our approach on a robot parameter estimation problem with unknown inertial and kinematic parameters which actively seeks contacts with a nearby surface. We show that our approach improves the identification of unknown parameter est","authors_text":"Hrishikesh Sathyanarayan, Ian Abraham","cross_cats":["cs.IT","math.IT"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-17T02:18:21Z","title":"Exciting Contact Modes in Differentiable Simulations for Robot Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.10935","kind":"arxiv","version":2},"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:f378540c8753d7c05c1da4845e12c798a419e4bc84aa3e79e2d545014086cb5d","target":"record","created_at":"2026-07-05T09:41:03Z","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":"f4469d733015eeed6470cf2b53b16d3fe2fad0765e69931247ea00c2a9956f62","cross_cats_sorted":["cs.IT","math.IT"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-17T02:18:21Z","title_canon_sha256":"3a435c937e59b3fa6a7bd3537b37f5d956aabf5c8601b128ee658a9f358c1ef1"},"schema_version":"1.0","source":{"id":"2411.10935","kind":"arxiv","version":2}},"canonical_sha256":"6e9f0f2539103a8cd86abb9180c4b5cb775914176675f17e0587742d1663807b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6e9f0f2539103a8cd86abb9180c4b5cb775914176675f17e0587742d1663807b","first_computed_at":"2026-07-05T09:41:03.614019Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:41:03.614019Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"78Edxu7sTPAl/JCuT/fWk18YG7+vgeqhOFkMA1jEokIN8adRtFipO7nS1nx/pFk4EHx0tGlWUH5SQwn6zauwCw==","signature_status":"signed_v1","signed_at":"2026-07-05T09:41:03.614519Z","signed_message":"canonical_sha256_bytes"},"source_id":"2411.10935","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f378540c8753d7c05c1da4845e12c798a419e4bc84aa3e79e2d545014086cb5d","sha256:dadc3770ba22e34b9ae056fd5919ae7188c82847ab44e514d1701614a798bcf5"],"state_sha256":"b2fd960208bbf657ce836eabe75a17f6961508733f8f8870f568d75b25b9aae9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"209Z9cedjxVDD9zdl1CxHRF2udPH7ICvre/PCZJde7I2pJ6dLXgPVHmZPdoG8KQxfiGsiIM5vlP/hGOFGl5RCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-19T05:51:41.503825Z","bundle_sha256":"91a794831392f93a288fc5b095a68bd98987633cfb242fd9c9771960593a1982"}}