{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:NCGD4IPR2VSCVK4QKU3T3RYTYO","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":"8fd8a723c81462f849a376c407f25e2d00c8acaa0f164a73ae6e3fdda74fad47","cross_cats_sorted":["cs.AI","cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.LG","submitted_at":"2022-06-10T04:54:32Z","title_canon_sha256":"31bbf32310876bc4b486421caceb28c6d35ef0526bd3548222954e0aae27d4a2"},"schema_version":"1.0","source":{"id":"2206.04873","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2206.04873","created_at":"2026-07-05T04:30:45Z"},{"alias_kind":"arxiv_version","alias_value":"2206.04873v1","created_at":"2026-07-05T04:30:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2206.04873","created_at":"2026-07-05T04:30:45Z"},{"alias_kind":"pith_short_12","alias_value":"NCGD4IPR2VSC","created_at":"2026-07-05T04:30:45Z"},{"alias_kind":"pith_short_16","alias_value":"NCGD4IPR2VSCVK4Q","created_at":"2026-07-05T04:30:45Z"},{"alias_kind":"pith_short_8","alias_value":"NCGD4IPR","created_at":"2026-07-05T04:30:45Z"}],"graph_snapshots":[{"event_id":"sha256:2bb7483692e25d3e0e9c181318bd9c7322bd0917dcafadc47a2abf889bcd599b","target":"graph","created_at":"2026-07-05T04:30:45Z","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/2206.04873/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Existing imitation learning (IL) methods such as inverse reinforcement learning (IRL) usually have a double-loop training process, alternating between learning a reward function and a policy and tend to suffer long training time and high variance. In this work, we identify the benefits of differentiable physics simulators and propose a new IL method, i.e., Imitation Learning via Differentiable Physics (ILD), which gets rid of the double-loop design and achieves significant improvements in final performance, convergence speed, and stability. The proposed ILD incorporates the differentiable phys","authors_text":"Siwei Chen, Xiao Ma, Zhongwen Xu","cross_cats":["cs.AI","cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.LG","submitted_at":"2022-06-10T04:54:32Z","title":"Imitation Learning via Differentiable Physics"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2206.04873","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":"sha256:894a4ab7a1a4758f7e49d78537fee1d852a20510e7e5fc5d7f2d344e3f8049fd","target":"record","created_at":"2026-07-05T04:30:45Z","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":"8fd8a723c81462f849a376c407f25e2d00c8acaa0f164a73ae6e3fdda74fad47","cross_cats_sorted":["cs.AI","cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.LG","submitted_at":"2022-06-10T04:54:32Z","title_canon_sha256":"31bbf32310876bc4b486421caceb28c6d35ef0526bd3548222954e0aae27d4a2"},"schema_version":"1.0","source":{"id":"2206.04873","kind":"arxiv","version":1}},"canonical_sha256":"688c3e21f1d5642aab9055373dc713c3b791f445be197911b0272068382ac902","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"688c3e21f1d5642aab9055373dc713c3b791f445be197911b0272068382ac902","first_computed_at":"2026-07-05T04:30:45.021481Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:30:45.021481Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1lMOjEoZeBE833B8rp0cSWMBAuykEV4efZ65WSEqSkfwY/3hpIe1ZCwZX+HslPQZEtp8bW0wKKLg1+yg5y9sDw==","signature_status":"signed_v1","signed_at":"2026-07-05T04:30:45.021822Z","signed_message":"canonical_sha256_bytes"},"source_id":"2206.04873","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:894a4ab7a1a4758f7e49d78537fee1d852a20510e7e5fc5d7f2d344e3f8049fd","sha256:2bb7483692e25d3e0e9c181318bd9c7322bd0917dcafadc47a2abf889bcd599b"],"state_sha256":"c070f41f38bd223cc002be181a6c3f069439a4df639c77f028ce85ac805dcb49"}