{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:NZ2OZFWQXOCDWVPQPBD2C5BDDP","short_pith_number":"pith:NZ2OZFWQ","canonical_record":{"source":{"id":"2008.12624","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2020-08-18T23:52:32Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"a43a786c11ec56f36409b0d946865934a0834fe5b1799650dcf38fb12199e5bb","abstract_canon_sha256":"998c1975f451a315b171a4e8f5eafe3860261d780aa6cd5d5d44a279a8b021ee"},"schema_version":"1.0"},"canonical_sha256":"6e74ec96d0bb843b55f07847a174231bd1e5f3a1625e75642031519d022e8dd9","source":{"kind":"arxiv","id":"2008.12624","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2008.12624","created_at":"2026-07-05T01:31:17Z"},{"alias_kind":"arxiv_version","alias_value":"2008.12624v1","created_at":"2026-07-05T01:31:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2008.12624","created_at":"2026-07-05T01:31:17Z"},{"alias_kind":"pith_short_12","alias_value":"NZ2OZFWQXOCD","created_at":"2026-07-05T01:31:17Z"},{"alias_kind":"pith_short_16","alias_value":"NZ2OZFWQXOCDWVPQ","created_at":"2026-07-05T01:31:17Z"},{"alias_kind":"pith_short_8","alias_value":"NZ2OZFWQ","created_at":"2026-07-05T01:31:17Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:NZ2OZFWQXOCDWVPQPBD2C5BDDP","target":"record","payload":{"canonical_record":{"source":{"id":"2008.12624","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2020-08-18T23:52:32Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"a43a786c11ec56f36409b0d946865934a0834fe5b1799650dcf38fb12199e5bb","abstract_canon_sha256":"998c1975f451a315b171a4e8f5eafe3860261d780aa6cd5d5d44a279a8b021ee"},"schema_version":"1.0"},"canonical_sha256":"6e74ec96d0bb843b55f07847a174231bd1e5f3a1625e75642031519d022e8dd9","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:31:17.296987Z","signature_b64":"dxulCBIlMSZhc8Sy5K1viPXulwZSkmc2D0Q3Wux2Z7aoKFP5x0sbsMcWk19ZNa1DvwytN3n+5guQIfRCUuI5DQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6e74ec96d0bb843b55f07847a174231bd1e5f3a1625e75642031519d022e8dd9","last_reissued_at":"2026-07-05T01:31:17.296452Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:31:17.296452Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2008.12624","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T01:31:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tdmSDH1P8CgseMWzsGdKp4hF5Jh5sDaswfZE1wWN05Pl5qOTvQzvv/B26YNbwcMZWjcMCRDmLhIQOZidvt65Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T06:15:59.384647Z"},"content_sha256":"e8b5e3911d7f82415e5f19b689e4c94d87f40829848a3241d2acb69a5c457f85","schema_version":"1.0","event_id":"sha256:e8b5e3911d7f82415e5f19b689e4c94d87f40829848a3241d2acb69a5c457f85"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:NZ2OZFWQXOCDWVPQPBD2C5BDDP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Framework for Studying Reinforcement Learning and Sim-to-Real in Robot Soccer","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Alain Tapp, Hansenclever F. Bassani, Heitor R. Medeiros, Jos\\'e Nilton de O. Lima Junior, Lucas H. C. Santos, Mateus G. Machado, Pedro H. M. Braga, Renie A. Delgado","submitted_at":"2020-08-18T23:52:32Z","abstract_excerpt":"This article introduces an open framework, called VSSS-RL, for studying Reinforcement Learning (RL) and sim-to-real in robot soccer, focusing on the IEEE Very Small Size Soccer (VSSS) league. We propose a simulated environment in which continuous or discrete control policies can be trained to control the complete behavior of soccer agents and a sim-to-real method based on domain adaptation to adapt the obtained policies to real robots. Our results show that the trained policies learned a broad repertoire of behaviors that are difficult to implement with handcrafted control policies. With VSSS-"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2008.12624","kind":"arxiv","version":1},"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/2008.12624/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":"2026-07-05T01:31:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qnIdejnxm0IMs30fY2/J0Jb0iOmuF7KVT26M5QsKw8btXF31jkP1lowFQKBPC4oiOhmaCpqsEaZDtVdyAnPQCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T06:15:59.385023Z"},"content_sha256":"15b722980fafd6ce34bf76975665c597470f7d8f6347007772f851784e9c6fe2","schema_version":"1.0","event_id":"sha256:15b722980fafd6ce34bf76975665c597470f7d8f6347007772f851784e9c6fe2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/NZ2OZFWQXOCDWVPQPBD2C5BDDP/bundle.json","state_url":"https://pith.science/pith/NZ2OZFWQXOCDWVPQPBD2C5BDDP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/NZ2OZFWQXOCDWVPQPBD2C5BDDP/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":"2026-07-07T06:15:59Z","links":{"resolver":"https://pith.science/pith/NZ2OZFWQXOCDWVPQPBD2C5BDDP","bundle":"https://pith.science/pith/NZ2OZFWQXOCDWVPQPBD2C5BDDP/bundle.json","state":"https://pith.science/pith/NZ2OZFWQXOCDWVPQPBD2C5BDDP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/NZ2OZFWQXOCDWVPQPBD2C5BDDP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:NZ2OZFWQXOCDWVPQPBD2C5BDDP","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":"998c1975f451a315b171a4e8f5eafe3860261d780aa6cd5d5d44a279a8b021ee","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2020-08-18T23:52:32Z","title_canon_sha256":"a43a786c11ec56f36409b0d946865934a0834fe5b1799650dcf38fb12199e5bb"},"schema_version":"1.0","source":{"id":"2008.12624","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2008.12624","created_at":"2026-07-05T01:31:17Z"},{"alias_kind":"arxiv_version","alias_value":"2008.12624v1","created_at":"2026-07-05T01:31:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2008.12624","created_at":"2026-07-05T01:31:17Z"},{"alias_kind":"pith_short_12","alias_value":"NZ2OZFWQXOCD","created_at":"2026-07-05T01:31:17Z"},{"alias_kind":"pith_short_16","alias_value":"NZ2OZFWQXOCDWVPQ","created_at":"2026-07-05T01:31:17Z"},{"alias_kind":"pith_short_8","alias_value":"NZ2OZFWQ","created_at":"2026-07-05T01:31:17Z"}],"graph_snapshots":[{"event_id":"sha256:15b722980fafd6ce34bf76975665c597470f7d8f6347007772f851784e9c6fe2","target":"graph","created_at":"2026-07-05T01:31:17Z","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/2008.12624/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This article introduces an open framework, called VSSS-RL, for studying Reinforcement Learning (RL) and sim-to-real in robot soccer, focusing on the IEEE Very Small Size Soccer (VSSS) league. We propose a simulated environment in which continuous or discrete control policies can be trained to control the complete behavior of soccer agents and a sim-to-real method based on domain adaptation to adapt the obtained policies to real robots. Our results show that the trained policies learned a broad repertoire of behaviors that are difficult to implement with handcrafted control policies. With VSSS-","authors_text":"Alain Tapp, Hansenclever F. Bassani, Heitor R. Medeiros, Jos\\'e Nilton de O. Lima Junior, Lucas H. C. Santos, Mateus G. Machado, Pedro H. M. Braga, Renie A. Delgado","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2020-08-18T23:52:32Z","title":"A Framework for Studying Reinforcement Learning and Sim-to-Real in Robot Soccer"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2008.12624","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:e8b5e3911d7f82415e5f19b689e4c94d87f40829848a3241d2acb69a5c457f85","target":"record","created_at":"2026-07-05T01:31:17Z","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":"998c1975f451a315b171a4e8f5eafe3860261d780aa6cd5d5d44a279a8b021ee","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2020-08-18T23:52:32Z","title_canon_sha256":"a43a786c11ec56f36409b0d946865934a0834fe5b1799650dcf38fb12199e5bb"},"schema_version":"1.0","source":{"id":"2008.12624","kind":"arxiv","version":1}},"canonical_sha256":"6e74ec96d0bb843b55f07847a174231bd1e5f3a1625e75642031519d022e8dd9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6e74ec96d0bb843b55f07847a174231bd1e5f3a1625e75642031519d022e8dd9","first_computed_at":"2026-07-05T01:31:17.296452Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:31:17.296452Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"dxulCBIlMSZhc8Sy5K1viPXulwZSkmc2D0Q3Wux2Z7aoKFP5x0sbsMcWk19ZNa1DvwytN3n+5guQIfRCUuI5DQ==","signature_status":"signed_v1","signed_at":"2026-07-05T01:31:17.296987Z","signed_message":"canonical_sha256_bytes"},"source_id":"2008.12624","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e8b5e3911d7f82415e5f19b689e4c94d87f40829848a3241d2acb69a5c457f85","sha256:15b722980fafd6ce34bf76975665c597470f7d8f6347007772f851784e9c6fe2"],"state_sha256":"db20c7ad02c1c040826ef1d666e781a36ae7743028c47121f8d21065abe6e186"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Vz+fye6tfeN+uGaF9Mi8gyQZiFe/g1kS5MK4qcvwulasNDu13QOqM+irFWO4SmeICOeCxvW5fr1N0vRo0dB8DA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T06:15:59.386950Z","bundle_sha256":"b05e1cd920d2865ce9e419a3aaa3687da750af9ffd478a0247ccf70858a87188"}}