{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:PST2WL5LIDZ3V34OATFB3YW3FF","short_pith_number":"pith:PST2WL5L","canonical_record":{"source":{"id":"2305.01263","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-05-02T09:00:32Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"7b923181316770f8dc76a2665b86177e7d0952222dc9b7c7faa260f69bce923c","abstract_canon_sha256":"2ed355bdd85fae1032b82f551e217605bd1c652832693531e8537b439f6a0ac4"},"schema_version":"1.0"},"canonical_sha256":"7ca7ab2fab40f3baef8e04ca1de2db2967afde85ddca27efa9172d87c20fb059","source":{"kind":"arxiv","id":"2305.01263","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2305.01263","created_at":"2026-07-05T06:26:21Z"},{"alias_kind":"arxiv_version","alias_value":"2305.01263v2","created_at":"2026-07-05T06:26:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2305.01263","created_at":"2026-07-05T06:26:21Z"},{"alias_kind":"pith_short_12","alias_value":"PST2WL5LIDZ3","created_at":"2026-07-05T06:26:21Z"},{"alias_kind":"pith_short_16","alias_value":"PST2WL5LIDZ3V34O","created_at":"2026-07-05T06:26:21Z"},{"alias_kind":"pith_short_8","alias_value":"PST2WL5L","created_at":"2026-07-05T06:26:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:PST2WL5LIDZ3V34OATFB3YW3FF","target":"record","payload":{"canonical_record":{"source":{"id":"2305.01263","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-05-02T09:00:32Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"7b923181316770f8dc76a2665b86177e7d0952222dc9b7c7faa260f69bce923c","abstract_canon_sha256":"2ed355bdd85fae1032b82f551e217605bd1c652832693531e8537b439f6a0ac4"},"schema_version":"1.0"},"canonical_sha256":"7ca7ab2fab40f3baef8e04ca1de2db2967afde85ddca27efa9172d87c20fb059","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:26:21.493771Z","signature_b64":"OxXsljCH6upp/z/c1GM0A0azMK+iNEQcwnfqB1Ptt+7o9yCE1V7azgHv552/ZKHP5UPVkjAcrs0a8VZRcJHEAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7ca7ab2fab40f3baef8e04ca1de2db2967afde85ddca27efa9172d87c20fb059","last_reissued_at":"2026-07-05T06:26:21.493249Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:26:21.493249Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2305.01263","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":"2026-07-05T06:26:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lLaJr1kaTCFRdo2rb3ogxu1VehiZD43Q0i/MgS63chxgC/chnNP+wIdLrKpc7ntYZQxLLrXV3FrAcYmZ9+wrDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T22:04:03.797467Z"},"content_sha256":"8977b50e4108f9bee462ec240eb694280793cb84823c12338368f127c65fcde6","schema_version":"1.0","event_id":"sha256:8977b50e4108f9bee462ec240eb694280793cb84823c12338368f127c65fcde6"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:PST2WL5LIDZ3V34OATFB3YW3FF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"How Simulation Helps Autonomous Driving:A Survey of Sim2real, Digital Twins, and Parallel Intelligence","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Bo Tang, Long Chen, Rouxing Huai, Shen Li, Tingyu Huang, Xuemin Hu","submitted_at":"2023-05-02T09:00:32Z","abstract_excerpt":"Safety and cost are two important concerns for the development of autonomous driving technologies. From the academic research to commercial applications of autonomous driving vehicles, sufficient simulation and real world testing are required. In general, a large scale of testing in simulation environment is conducted and then the learned driving knowledge is transferred to the real world, so how to adapt driving knowledge learned in simulation to reality becomes a critical issue. However, the virtual simulation world differs from the real world in many aspects such as lighting, textures, vehi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2305.01263","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/2305.01263/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":"2026-07-05T06:26:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"N1XLb6G+wmAx94WGjfbCUgL1OljtZgPxEDJl9C4pyINP6d4fcezSANFQ7FsLTpuHU41Eg5A+u8dnAWZrm5x9AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T22:04:03.798343Z"},"content_sha256":"a52834219380a5fb906e6c666af15e20881b4bf0168a821fad799608e1d187c4","schema_version":"1.0","event_id":"sha256:a52834219380a5fb906e6c666af15e20881b4bf0168a821fad799608e1d187c4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PST2WL5LIDZ3V34OATFB3YW3FF/bundle.json","state_url":"https://pith.science/pith/PST2WL5LIDZ3V34OATFB3YW3FF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PST2WL5LIDZ3V34OATFB3YW3FF/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":"2026-08-03T22:04:03Z","links":{"resolver":"https://pith.science/pith/PST2WL5LIDZ3V34OATFB3YW3FF","bundle":"https://pith.science/pith/PST2WL5LIDZ3V34OATFB3YW3FF/bundle.json","state":"https://pith.science/pith/PST2WL5LIDZ3V34OATFB3YW3FF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PST2WL5LIDZ3V34OATFB3YW3FF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:PST2WL5LIDZ3V34OATFB3YW3FF","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":"2ed355bdd85fae1032b82f551e217605bd1c652832693531e8537b439f6a0ac4","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-05-02T09:00:32Z","title_canon_sha256":"7b923181316770f8dc76a2665b86177e7d0952222dc9b7c7faa260f69bce923c"},"schema_version":"1.0","source":{"id":"2305.01263","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2305.01263","created_at":"2026-07-05T06:26:21Z"},{"alias_kind":"arxiv_version","alias_value":"2305.01263v2","created_at":"2026-07-05T06:26:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2305.01263","created_at":"2026-07-05T06:26:21Z"},{"alias_kind":"pith_short_12","alias_value":"PST2WL5LIDZ3","created_at":"2026-07-05T06:26:21Z"},{"alias_kind":"pith_short_16","alias_value":"PST2WL5LIDZ3V34O","created_at":"2026-07-05T06:26:21Z"},{"alias_kind":"pith_short_8","alias_value":"PST2WL5L","created_at":"2026-07-05T06:26:21Z"}],"graph_snapshots":[{"event_id":"sha256:a52834219380a5fb906e6c666af15e20881b4bf0168a821fad799608e1d187c4","target":"graph","created_at":"2026-07-05T06:26:21Z","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/2305.01263/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Safety and cost are two important concerns for the development of autonomous driving technologies. From the academic research to commercial applications of autonomous driving vehicles, sufficient simulation and real world testing are required. In general, a large scale of testing in simulation environment is conducted and then the learned driving knowledge is transferred to the real world, so how to adapt driving knowledge learned in simulation to reality becomes a critical issue. However, the virtual simulation world differs from the real world in many aspects such as lighting, textures, vehi","authors_text":"Bo Tang, Long Chen, Rouxing Huai, Shen Li, Tingyu Huang, Xuemin Hu","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-05-02T09:00:32Z","title":"How Simulation Helps Autonomous Driving:A Survey of Sim2real, Digital Twins, and Parallel Intelligence"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2305.01263","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":"sha256:8977b50e4108f9bee462ec240eb694280793cb84823c12338368f127c65fcde6","target":"record","created_at":"2026-07-05T06:26:21Z","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":"2ed355bdd85fae1032b82f551e217605bd1c652832693531e8537b439f6a0ac4","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-05-02T09:00:32Z","title_canon_sha256":"7b923181316770f8dc76a2665b86177e7d0952222dc9b7c7faa260f69bce923c"},"schema_version":"1.0","source":{"id":"2305.01263","kind":"arxiv","version":2}},"canonical_sha256":"7ca7ab2fab40f3baef8e04ca1de2db2967afde85ddca27efa9172d87c20fb059","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7ca7ab2fab40f3baef8e04ca1de2db2967afde85ddca27efa9172d87c20fb059","first_computed_at":"2026-07-05T06:26:21.493249Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:26:21.493249Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"OxXsljCH6upp/z/c1GM0A0azMK+iNEQcwnfqB1Ptt+7o9yCE1V7azgHv552/ZKHP5UPVkjAcrs0a8VZRcJHEAg==","signature_status":"signed_v1","signed_at":"2026-07-05T06:26:21.493771Z","signed_message":"canonical_sha256_bytes"},"source_id":"2305.01263","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8977b50e4108f9bee462ec240eb694280793cb84823c12338368f127c65fcde6","sha256:a52834219380a5fb906e6c666af15e20881b4bf0168a821fad799608e1d187c4"],"state_sha256":"e41a95e814585ad1d50dda4409c1ed81ab3846b802990add2670fcfe19904a4f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WwRvkZUOnmQ6qxfGtzLFGzrwRvPbPC3p6UPjWXYPbw15O3mN/jq9YN6/UJbVoVgOg0CVSzoaRPG4v8QJ68T4Cw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T22:04:03.804356Z","bundle_sha256":"ff8d3512290c6ef9f77622e1d2c3b0d9600ced5300b23f0031236c69561401a9"}}