{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:OWBXEOUJ6LAPH6SAMLM4K3IFDJ","short_pith_number":"pith:OWBXEOUJ","schema_version":"1.0","canonical_sha256":"7583723a89f2c0f3fa4062d9c56d051a5865a0e04d0e8e9cdbf1b6b5d4726a6d","source":{"kind":"arxiv","id":"2207.10821","version":2},"attestation_state":"computed","paper":{"title":"Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Akshara Rai, Dhruv Batra, Joanne Truong, Max Rudolph, Naoki Yokoyama, Sonia Chernova","submitted_at":"2022-07-21T23:54:05Z","abstract_excerpt":"If we want to train robots in simulation before deploying them in reality, it seems natural and almost self-evident to presume that reducing the sim2real gap involves creating simulators of increasing fidelity (since reality is what it is). We challenge this assumption and present a contrary hypothesis -- sim2real transfer of robots may be improved with lower (not higher) fidelity simulation. We conduct a systematic large-scale evaluation of this hypothesis on the problem of visual navigation -- in the real world, and on 2 different simulators (Habitat and iGibson) using 3 different robots (A1"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2207.10821","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-07-21T23:54:05Z","cross_cats_sorted":[],"title_canon_sha256":"19f7787a236c03756d3706d7fa6f21b52cce78141a99327e07c36b1551d8476e","abstract_canon_sha256":"ff5b15e477e2cb2851eb15d24f8b17f6f78bca126626d171e4bfe35e5be2785e"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:19:36.011368Z","signature_b64":"bHmINg5qunyy48FofxpANwmNWoJfomJANDnLtHkCnU5CmZwolkXvQOGvSYmuk0VfEnl/4OyHp/f++ZpsMQUQBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7583723a89f2c0f3fa4062d9c56d051a5865a0e04d0e8e9cdbf1b6b5d4726a6d","last_reissued_at":"2026-07-05T05:19:36.010968Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:19:36.010968Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Akshara Rai, Dhruv Batra, Joanne Truong, Max Rudolph, Naoki Yokoyama, Sonia Chernova","submitted_at":"2022-07-21T23:54:05Z","abstract_excerpt":"If we want to train robots in simulation before deploying them in reality, it seems natural and almost self-evident to presume that reducing the sim2real gap involves creating simulators of increasing fidelity (since reality is what it is). We challenge this assumption and present a contrary hypothesis -- sim2real transfer of robots may be improved with lower (not higher) fidelity simulation. We conduct a systematic large-scale evaluation of this hypothesis on the problem of visual navigation -- in the real world, and on 2 different simulators (Habitat and iGibson) using 3 different robots (A1"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2207.10821","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/2207.10821/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2207.10821","created_at":"2026-07-05T05:19:36.011024+00:00"},{"alias_kind":"arxiv_version","alias_value":"2207.10821v2","created_at":"2026-07-05T05:19:36.011024+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2207.10821","created_at":"2026-07-05T05:19:36.011024+00:00"},{"alias_kind":"pith_short_12","alias_value":"OWBXEOUJ6LAP","created_at":"2026-07-05T05:19:36.011024+00:00"},{"alias_kind":"pith_short_16","alias_value":"OWBXEOUJ6LAPH6SA","created_at":"2026-07-05T05:19:36.011024+00:00"},{"alias_kind":"pith_short_8","alias_value":"OWBXEOUJ","created_at":"2026-07-05T05:19:36.011024+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/OWBXEOUJ6LAPH6SAMLM4K3IFDJ","json":"https://pith.science/pith/OWBXEOUJ6LAPH6SAMLM4K3IFDJ.json","graph_json":"https://pith.science/api/pith-number/OWBXEOUJ6LAPH6SAMLM4K3IFDJ/graph.json","events_json":"https://pith.science/api/pith-number/OWBXEOUJ6LAPH6SAMLM4K3IFDJ/events.json","paper":"https://pith.science/paper/OWBXEOUJ"},"agent_actions":{"view_html":"https://pith.science/pith/OWBXEOUJ6LAPH6SAMLM4K3IFDJ","download_json":"https://pith.science/pith/OWBXEOUJ6LAPH6SAMLM4K3IFDJ.json","view_paper":"https://pith.science/paper/OWBXEOUJ","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2207.10821&json=true","fetch_graph":"https://pith.science/api/pith-number/OWBXEOUJ6LAPH6SAMLM4K3IFDJ/graph.json","fetch_events":"https://pith.science/api/pith-number/OWBXEOUJ6LAPH6SAMLM4K3IFDJ/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/OWBXEOUJ6LAPH6SAMLM4K3IFDJ/action/timestamp_anchor","attest_storage":"https://pith.science/pith/OWBXEOUJ6LAPH6SAMLM4K3IFDJ/action/storage_attestation","attest_author":"https://pith.science/pith/OWBXEOUJ6LAPH6SAMLM4K3IFDJ/action/author_attestation","sign_citation":"https://pith.science/pith/OWBXEOUJ6LAPH6SAMLM4K3IFDJ/action/citation_signature","submit_replication":"https://pith.science/pith/OWBXEOUJ6LAPH6SAMLM4K3IFDJ/action/replication_record"}},"created_at":"2026-07-05T05:19:36.011024+00:00","updated_at":"2026-07-05T05:19:36.011024+00:00"}