{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:RCRJNSS44WKQJDBGV5J6TUGIBX","short_pith_number":"pith:RCRJNSS4","canonical_record":{"source":{"id":"2412.11503","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-16T07:25:40Z","cross_cats_sorted":[],"title_canon_sha256":"1d20937e800b3affbbe63bf7cfc26d2130637246f57923f7323c1904a221666d","abstract_canon_sha256":"9586692ef413b7cc4073153e43ee3de9ab0243a3445b3fd8588f4b4482f7eee1"},"schema_version":"1.0"},"canonical_sha256":"88a296ca5ce595048c26af53e9d0c80dfac7b96ae3561c5bc98a1eb419d7a4ee","source":{"kind":"arxiv","id":"2412.11503","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.11503","created_at":"2026-07-05T10:59:04Z"},{"alias_kind":"arxiv_version","alias_value":"2412.11503v2","created_at":"2026-07-05T10:59:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.11503","created_at":"2026-07-05T10:59:04Z"},{"alias_kind":"pith_short_12","alias_value":"RCRJNSS44WKQ","created_at":"2026-07-05T10:59:04Z"},{"alias_kind":"pith_short_16","alias_value":"RCRJNSS44WKQJDBG","created_at":"2026-07-05T10:59:04Z"},{"alias_kind":"pith_short_8","alias_value":"RCRJNSS4","created_at":"2026-07-05T10:59:04Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:RCRJNSS44WKQJDBGV5J6TUGIBX","target":"record","payload":{"canonical_record":{"source":{"id":"2412.11503","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-16T07:25:40Z","cross_cats_sorted":[],"title_canon_sha256":"1d20937e800b3affbbe63bf7cfc26d2130637246f57923f7323c1904a221666d","abstract_canon_sha256":"9586692ef413b7cc4073153e43ee3de9ab0243a3445b3fd8588f4b4482f7eee1"},"schema_version":"1.0"},"canonical_sha256":"88a296ca5ce595048c26af53e9d0c80dfac7b96ae3561c5bc98a1eb419d7a4ee","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:59:04.386631Z","signature_b64":"mFqCE+rnroRpzwrAZMBEWBMBnJesbX7nmFCxnpQoDUF4zM0ARI2Wck0VVUjFQnEnoYxrqgwTySZbLBRTACsyDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"88a296ca5ce595048c26af53e9d0c80dfac7b96ae3561c5bc98a1eb419d7a4ee","last_reissued_at":"2026-07-05T10:59:04.386117Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:59:04.386117Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2412.11503","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":"2026-07-05T10:59:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"d8bMMl94QmX1qDUhaisnVyY2KVgoeYhV+pH907l61mpDULgzrZ+Ivolfp8smbYuKOwx8JiDm/6gSTg8zZZP/Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-12T19:53:01.407597Z"},"content_sha256":"d6b6ac6bafc1642fae8e591dcedc41886a336d051b4bb58d1b69a8ed50b7bf1b","schema_version":"1.0","event_id":"sha256:d6b6ac6bafc1642fae8e591dcedc41886a336d051b4bb58d1b69a8ed50b7bf1b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:RCRJNSS44WKQJDBGV5J6TUGIBX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Visual-Based Forklift Learning System Enabling Zero-Shot Sim2Real Without Real-World Data","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hiroya Makino, Koshi Oishi, Seigo Ito, Teruki Kato","submitted_at":"2024-12-16T07:25:40Z","abstract_excerpt":"Forklifts are used extensively in various industrial settings and are in high demand for automation. In particular, counterbalance forklifts are highly versatile and employed in diverse scenarios. However, efforts to automate these processes are lacking, primarily owing to the absence of a safe and performance-verifiable development environment. This study proposes a learning system that combines a photorealistic digital learning environment with a 1/14-scale robotic forklift environment to address this challenge. Inspired by the training-based learning approach adopted by forklift operators, "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.11503","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/2412.11503/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":"2026-07-05T10:59:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OEwpfoxfeb9cLYCWz/BEc0Z3cwHdPLyPiBOp/GQiUMNAA0TadQWa2uWVpVPMvvpDIUM30zkTyhTLJqPvgLmoDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-12T19:53:01.408379Z"},"content_sha256":"ba4252ba97ff22e988f4988f4591ca02727cc1ddc7c9eace4f5ae373335c7720","schema_version":"1.0","event_id":"sha256:ba4252ba97ff22e988f4988f4591ca02727cc1ddc7c9eace4f5ae373335c7720"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/RCRJNSS44WKQJDBGV5J6TUGIBX/bundle.json","state_url":"https://pith.science/pith/RCRJNSS44WKQJDBGV5J6TUGIBX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/RCRJNSS44WKQJDBGV5J6TUGIBX/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":"2026-07-12T19:53:01Z","links":{"resolver":"https://pith.science/pith/RCRJNSS44WKQJDBGV5J6TUGIBX","bundle":"https://pith.science/pith/RCRJNSS44WKQJDBGV5J6TUGIBX/bundle.json","state":"https://pith.science/pith/RCRJNSS44WKQJDBGV5J6TUGIBX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/RCRJNSS44WKQJDBGV5J6TUGIBX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:RCRJNSS44WKQJDBGV5J6TUGIBX","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":"9586692ef413b7cc4073153e43ee3de9ab0243a3445b3fd8588f4b4482f7eee1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-16T07:25:40Z","title_canon_sha256":"1d20937e800b3affbbe63bf7cfc26d2130637246f57923f7323c1904a221666d"},"schema_version":"1.0","source":{"id":"2412.11503","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.11503","created_at":"2026-07-05T10:59:04Z"},{"alias_kind":"arxiv_version","alias_value":"2412.11503v2","created_at":"2026-07-05T10:59:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.11503","created_at":"2026-07-05T10:59:04Z"},{"alias_kind":"pith_short_12","alias_value":"RCRJNSS44WKQ","created_at":"2026-07-05T10:59:04Z"},{"alias_kind":"pith_short_16","alias_value":"RCRJNSS44WKQJDBG","created_at":"2026-07-05T10:59:04Z"},{"alias_kind":"pith_short_8","alias_value":"RCRJNSS4","created_at":"2026-07-05T10:59:04Z"}],"graph_snapshots":[{"event_id":"sha256:ba4252ba97ff22e988f4988f4591ca02727cc1ddc7c9eace4f5ae373335c7720","target":"graph","created_at":"2026-07-05T10:59:04Z","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/2412.11503/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Forklifts are used extensively in various industrial settings and are in high demand for automation. In particular, counterbalance forklifts are highly versatile and employed in diverse scenarios. However, efforts to automate these processes are lacking, primarily owing to the absence of a safe and performance-verifiable development environment. This study proposes a learning system that combines a photorealistic digital learning environment with a 1/14-scale robotic forklift environment to address this challenge. Inspired by the training-based learning approach adopted by forklift operators, ","authors_text":"Hiroya Makino, Koshi Oishi, Seigo Ito, Teruki Kato","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-16T07:25:40Z","title":"Visual-Based Forklift Learning System Enabling Zero-Shot Sim2Real Without Real-World Data"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.11503","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:d6b6ac6bafc1642fae8e591dcedc41886a336d051b4bb58d1b69a8ed50b7bf1b","target":"record","created_at":"2026-07-05T10:59:04Z","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":"9586692ef413b7cc4073153e43ee3de9ab0243a3445b3fd8588f4b4482f7eee1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-16T07:25:40Z","title_canon_sha256":"1d20937e800b3affbbe63bf7cfc26d2130637246f57923f7323c1904a221666d"},"schema_version":"1.0","source":{"id":"2412.11503","kind":"arxiv","version":2}},"canonical_sha256":"88a296ca5ce595048c26af53e9d0c80dfac7b96ae3561c5bc98a1eb419d7a4ee","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"88a296ca5ce595048c26af53e9d0c80dfac7b96ae3561c5bc98a1eb419d7a4ee","first_computed_at":"2026-07-05T10:59:04.386117Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:59:04.386117Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"mFqCE+rnroRpzwrAZMBEWBMBnJesbX7nmFCxnpQoDUF4zM0ARI2Wck0VVUjFQnEnoYxrqgwTySZbLBRTACsyDg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:59:04.386631Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.11503","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d6b6ac6bafc1642fae8e591dcedc41886a336d051b4bb58d1b69a8ed50b7bf1b","sha256:ba4252ba97ff22e988f4988f4591ca02727cc1ddc7c9eace4f5ae373335c7720"],"state_sha256":"4c216317720b1529b0583f2744386e124681f97061f36ba570e7f760f3aa511e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"m5x3b3Yv6WUdMCkEgG0Gr/zc+VhvXiD4kXt+zGNeGqG+gM7aawrIMMPf1faEYsVlHjGPCYAuFJCnH36iR+RGCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-12T19:53:01.412630Z","bundle_sha256":"8d5411fcd22490d239df3f0cee384454b93ec134aed98b208462113196ebe6cf"}}