{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:OTYDPZPXV5HSIUXBMYFV3NS3ZM","short_pith_number":"pith:OTYDPZPX","canonical_record":{"source":{"id":"2306.15864","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-28T01:32:45Z","cross_cats_sorted":[],"title_canon_sha256":"339e934a78acb71511dc80648a3864323eb28d9b529414b52dbff4ca5f913f59","abstract_canon_sha256":"ca6ed35a890da2c047ba525b32de36f89e0fd99a1e2ff5ddae35963eba902400"},"schema_version":"1.0"},"canonical_sha256":"74f037e5f7af4f2452e1660b5db65bcb23e99ec7ef032301e6e79d45ac2235de","source":{"kind":"arxiv","id":"2306.15864","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2306.15864","created_at":"2026-07-05T07:02:51Z"},{"alias_kind":"arxiv_version","alias_value":"2306.15864v2","created_at":"2026-07-05T07:02:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2306.15864","created_at":"2026-07-05T07:02:51Z"},{"alias_kind":"pith_short_12","alias_value":"OTYDPZPXV5HS","created_at":"2026-07-05T07:02:51Z"},{"alias_kind":"pith_short_16","alias_value":"OTYDPZPXV5HSIUXB","created_at":"2026-07-05T07:02:51Z"},{"alias_kind":"pith_short_8","alias_value":"OTYDPZPX","created_at":"2026-07-05T07:02:51Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:OTYDPZPXV5HSIUXBMYFV3NS3ZM","target":"record","payload":{"canonical_record":{"source":{"id":"2306.15864","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-28T01:32:45Z","cross_cats_sorted":[],"title_canon_sha256":"339e934a78acb71511dc80648a3864323eb28d9b529414b52dbff4ca5f913f59","abstract_canon_sha256":"ca6ed35a890da2c047ba525b32de36f89e0fd99a1e2ff5ddae35963eba902400"},"schema_version":"1.0"},"canonical_sha256":"74f037e5f7af4f2452e1660b5db65bcb23e99ec7ef032301e6e79d45ac2235de","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:02:51.720528Z","signature_b64":"xMiI5HZ4z1ScdAknHFihOMm/W+lI8jmARVnoqfjxOOPYNPsx2TWzMqL+UHDx3qJvkdDgTlk5eut9l56N/GsxDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"74f037e5f7af4f2452e1660b5db65bcb23e99ec7ef032301e6e79d45ac2235de","last_reissued_at":"2026-07-05T07:02:51.720035Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:02:51.720035Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2306.15864","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":"2026-07-05T07:02:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7NwyLlIvgJI2Lzc7kVFlXp0Foe9ziNdLSRYVjmgiZE0oYwN0qDeKp1m76L95yXw/lJcnWVz9hgjFDxtzRIHRBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T19:42:53.832852Z"},"content_sha256":"800a0229161d71ad50a6b17402aa214a844d072d16c0c39f72363170ff52968d","schema_version":"1.0","event_id":"sha256:800a0229161d71ad50a6b17402aa214a844d072d16c0c39f72363170ff52968d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:OTYDPZPXV5HSIUXBMYFV3NS3ZM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"What Went Wrong? Closing the Sim-to-Real Gap via Differentiable Causal Discovery","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bingqing Chen, Ding Zhao, Jonathan Francis, Mengdi Xu, Peide Huang, Shiqi Liu, Wenhao Ding, Xilun Zhang, Ziang Cao","submitted_at":"2023-06-28T01:32:45Z","abstract_excerpt":"Training control policies in simulation is more appealing than on real robots directly, as it allows for exploring diverse states in an efficient manner. Yet, robot simulators inevitably exhibit disparities from the real-world \\rebut{dynamics}, yielding inaccuracies that manifest as the dynamical simulation-to-reality (sim-to-real) gap. Existing literature has proposed to close this gap by actively modifying specific simulator parameters to align the simulated data with real-world observations. However, the set of tunable parameters is usually manually selected to reduce the search space in a "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.15864","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/2306.15864/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":"2026-07-05T07:02:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"aSQiZUDFXCJPVIt4EECiZlZiDPSY3xxa5SX4rLLj8aBlOBePWV9ia8pM8kLh0wfccKSZCU/01b4dsuqtyoJhBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T19:42:53.833388Z"},"content_sha256":"de796dac12845d0b74a79a9d929b5dcf034ebceae371dfc112c922f1d69d54f2","schema_version":"1.0","event_id":"sha256:de796dac12845d0b74a79a9d929b5dcf034ebceae371dfc112c922f1d69d54f2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/OTYDPZPXV5HSIUXBMYFV3NS3ZM/bundle.json","state_url":"https://pith.science/pith/OTYDPZPXV5HSIUXBMYFV3NS3ZM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/OTYDPZPXV5HSIUXBMYFV3NS3ZM/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":"2026-08-05T19:42:53Z","links":{"resolver":"https://pith.science/pith/OTYDPZPXV5HSIUXBMYFV3NS3ZM","bundle":"https://pith.science/pith/OTYDPZPXV5HSIUXBMYFV3NS3ZM/bundle.json","state":"https://pith.science/pith/OTYDPZPXV5HSIUXBMYFV3NS3ZM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/OTYDPZPXV5HSIUXBMYFV3NS3ZM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:OTYDPZPXV5HSIUXBMYFV3NS3ZM","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":"ca6ed35a890da2c047ba525b32de36f89e0fd99a1e2ff5ddae35963eba902400","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-28T01:32:45Z","title_canon_sha256":"339e934a78acb71511dc80648a3864323eb28d9b529414b52dbff4ca5f913f59"},"schema_version":"1.0","source":{"id":"2306.15864","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2306.15864","created_at":"2026-07-05T07:02:51Z"},{"alias_kind":"arxiv_version","alias_value":"2306.15864v2","created_at":"2026-07-05T07:02:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2306.15864","created_at":"2026-07-05T07:02:51Z"},{"alias_kind":"pith_short_12","alias_value":"OTYDPZPXV5HS","created_at":"2026-07-05T07:02:51Z"},{"alias_kind":"pith_short_16","alias_value":"OTYDPZPXV5HSIUXB","created_at":"2026-07-05T07:02:51Z"},{"alias_kind":"pith_short_8","alias_value":"OTYDPZPX","created_at":"2026-07-05T07:02:51Z"}],"graph_snapshots":[{"event_id":"sha256:de796dac12845d0b74a79a9d929b5dcf034ebceae371dfc112c922f1d69d54f2","target":"graph","created_at":"2026-07-05T07:02:51Z","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/2306.15864/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Training control policies in simulation is more appealing than on real robots directly, as it allows for exploring diverse states in an efficient manner. Yet, robot simulators inevitably exhibit disparities from the real-world \\rebut{dynamics}, yielding inaccuracies that manifest as the dynamical simulation-to-reality (sim-to-real) gap. Existing literature has proposed to close this gap by actively modifying specific simulator parameters to align the simulated data with real-world observations. However, the set of tunable parameters is usually manually selected to reduce the search space in a ","authors_text":"Bingqing Chen, Ding Zhao, Jonathan Francis, Mengdi Xu, Peide Huang, Shiqi Liu, Wenhao Ding, Xilun Zhang, Ziang Cao","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-28T01:32:45Z","title":"What Went Wrong? Closing the Sim-to-Real Gap via Differentiable Causal Discovery"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.15864","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":"sha256:800a0229161d71ad50a6b17402aa214a844d072d16c0c39f72363170ff52968d","target":"record","created_at":"2026-07-05T07:02:51Z","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":"ca6ed35a890da2c047ba525b32de36f89e0fd99a1e2ff5ddae35963eba902400","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-28T01:32:45Z","title_canon_sha256":"339e934a78acb71511dc80648a3864323eb28d9b529414b52dbff4ca5f913f59"},"schema_version":"1.0","source":{"id":"2306.15864","kind":"arxiv","version":2}},"canonical_sha256":"74f037e5f7af4f2452e1660b5db65bcb23e99ec7ef032301e6e79d45ac2235de","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"74f037e5f7af4f2452e1660b5db65bcb23e99ec7ef032301e6e79d45ac2235de","first_computed_at":"2026-07-05T07:02:51.720035Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:02:51.720035Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xMiI5HZ4z1ScdAknHFihOMm/W+lI8jmARVnoqfjxOOPYNPsx2TWzMqL+UHDx3qJvkdDgTlk5eut9l56N/GsxDw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:02:51.720528Z","signed_message":"canonical_sha256_bytes"},"source_id":"2306.15864","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:800a0229161d71ad50a6b17402aa214a844d072d16c0c39f72363170ff52968d","sha256:de796dac12845d0b74a79a9d929b5dcf034ebceae371dfc112c922f1d69d54f2"],"state_sha256":"d6c8bcb6219adedb0b3674cca2137102a1b674f6d5c6f6735e5b594c40b2ba72"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IH6Qj+Y8JbrA35nwE3dPx60PNqunLGW1Njl8QaRMGTfbWrQr/PRV0aD1PtQBmybbg3Lz+vZChVjIhGSTz2XXCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T19:42:53.838215Z","bundle_sha256":"0580813ace682c3a2b9987e91fc98d94fb41ff27f5bdb88c8065feee42ba2b4a"}}