{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2013:ROX7YMKFKPJSLKI25KZUIKGKBQ","short_pith_number":"pith:ROX7YMKF","canonical_record":{"source":{"id":"1307.1870","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/3.0/","primary_cat":"cs.RO","submitted_at":"2013-07-07T14:52:11Z","cross_cats_sorted":[],"title_canon_sha256":"351e0016dbee05653d12abaf5cb1a047a5dec787437738e5b062fa8f65eae101","abstract_canon_sha256":"0e2bf93211abd1daddf8609e152a80b5f2acea7cc4d6e24530f8861a9a20e550"},"schema_version":"1.0"},"canonical_sha256":"8baffc314553d325a91aeab34428ca0c321acbb76ad46d7268858ebc93661d3e","source":{"kind":"arxiv","id":"1307.1870","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1307.1870","created_at":"2026-05-18T03:19:03Z"},{"alias_kind":"arxiv_version","alias_value":"1307.1870v1","created_at":"2026-05-18T03:19:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1307.1870","created_at":"2026-05-18T03:19:03Z"},{"alias_kind":"pith_short_12","alias_value":"ROX7YMKFKPJS","created_at":"2026-05-18T12:27:59Z"},{"alias_kind":"pith_short_16","alias_value":"ROX7YMKFKPJSLKI2","created_at":"2026-05-18T12:27:59Z"},{"alias_kind":"pith_short_8","alias_value":"ROX7YMKF","created_at":"2026-05-18T12:27:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2013:ROX7YMKFKPJSLKI25KZUIKGKBQ","target":"record","payload":{"canonical_record":{"source":{"id":"1307.1870","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/3.0/","primary_cat":"cs.RO","submitted_at":"2013-07-07T14:52:11Z","cross_cats_sorted":[],"title_canon_sha256":"351e0016dbee05653d12abaf5cb1a047a5dec787437738e5b062fa8f65eae101","abstract_canon_sha256":"0e2bf93211abd1daddf8609e152a80b5f2acea7cc4d6e24530f8861a9a20e550"},"schema_version":"1.0"},"canonical_sha256":"8baffc314553d325a91aeab34428ca0c321acbb76ad46d7268858ebc93661d3e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T03:19:03.305158Z","signature_b64":"dO+hx28W885LZxv1FcZTX2Cj9VrG9upwYVTFqJqFci5Ydxv0Ec1beLF2edXkhwAF+aCvTZPYIwIKnNchQZVnDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8baffc314553d325a91aeab34428ca0c321acbb76ad46d7268858ebc93661d3e","last_reissued_at":"2026-05-18T03:19:03.304626Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T03:19:03.304626Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1307.1870","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":"2026-05-18T03:19:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JQlOeNsvs0rdQiClWEhhw5A+xDUqVgHXhykdpokBQcfoJCDirzEEWxpKB7QMowgH64IpuTGEeur8XnaJ/+UnCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-02T06:34:51.090121Z"},"content_sha256":"893b4ed11ec7b925f7c33e60c90b6050a398568b122839db42f81be49aab354f","schema_version":"1.0","event_id":"sha256:893b4ed11ec7b925f7c33e60c90b6050a398568b122839db42f81be49aab354f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2013:ROX7YMKFKPJSLKI25KZUIKGKBQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Crossing the Reality Gap: a Short Introduction to the Transferability Approach","license":"http://creativecommons.org/licenses/by/3.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jean-Baptiste Mouret, St\\'ephane Doncieux, Sylvain Koos","submitted_at":"2013-07-07T14:52:11Z","abstract_excerpt":"In robotics, gradient-free optimization algorithms (e.g. evolutionary algorithms) are often used only in simulation because they require the evaluation of many candidate solutions. Nevertheless, solutions obtained in simulation often do not work well on the real device. The transferability approach aims at crossing this gap between simulation and reality by \\emph{making the optimization algorithm aware of the limits of the simulation}.\n  In the present paper, we first describe the transferability function, that maps solution descriptors to a score representing how well a simulator matches the "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1307.1870","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":""},"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":"2026-05-18T03:19:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"g43QTHLoJznjuhy0rSWJ6dtEFD/9qI3N6E6uOC8Y59TMV0AQnHMc+dly06N1kJlTikVjF3SszoZ+0wBFDeU3Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-02T06:34:51.090477Z"},"content_sha256":"41b5213b9db017bbfab809af4d53351ffcf5ef46f30b94cd38fa0d974bb802ee","schema_version":"1.0","event_id":"sha256:41b5213b9db017bbfab809af4d53351ffcf5ef46f30b94cd38fa0d974bb802ee"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ROX7YMKFKPJSLKI25KZUIKGKBQ/bundle.json","state_url":"https://pith.science/pith/ROX7YMKFKPJSLKI25KZUIKGKBQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ROX7YMKFKPJSLKI25KZUIKGKBQ/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":"2026-07-02T06:34:51Z","links":{"resolver":"https://pith.science/pith/ROX7YMKFKPJSLKI25KZUIKGKBQ","bundle":"https://pith.science/pith/ROX7YMKFKPJSLKI25KZUIKGKBQ/bundle.json","state":"https://pith.science/pith/ROX7YMKFKPJSLKI25KZUIKGKBQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ROX7YMKFKPJSLKI25KZUIKGKBQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2013:ROX7YMKFKPJSLKI25KZUIKGKBQ","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":"0e2bf93211abd1daddf8609e152a80b5f2acea7cc4d6e24530f8861a9a20e550","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/3.0/","primary_cat":"cs.RO","submitted_at":"2013-07-07T14:52:11Z","title_canon_sha256":"351e0016dbee05653d12abaf5cb1a047a5dec787437738e5b062fa8f65eae101"},"schema_version":"1.0","source":{"id":"1307.1870","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1307.1870","created_at":"2026-05-18T03:19:03Z"},{"alias_kind":"arxiv_version","alias_value":"1307.1870v1","created_at":"2026-05-18T03:19:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1307.1870","created_at":"2026-05-18T03:19:03Z"},{"alias_kind":"pith_short_12","alias_value":"ROX7YMKFKPJS","created_at":"2026-05-18T12:27:59Z"},{"alias_kind":"pith_short_16","alias_value":"ROX7YMKFKPJSLKI2","created_at":"2026-05-18T12:27:59Z"},{"alias_kind":"pith_short_8","alias_value":"ROX7YMKF","created_at":"2026-05-18T12:27:59Z"}],"graph_snapshots":[{"event_id":"sha256:41b5213b9db017bbfab809af4d53351ffcf5ef46f30b94cd38fa0d974bb802ee","target":"graph","created_at":"2026-05-18T03:19:03Z","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"},"paper":{"abstract_excerpt":"In robotics, gradient-free optimization algorithms (e.g. evolutionary algorithms) are often used only in simulation because they require the evaluation of many candidate solutions. Nevertheless, solutions obtained in simulation often do not work well on the real device. The transferability approach aims at crossing this gap between simulation and reality by \\emph{making the optimization algorithm aware of the limits of the simulation}.\n  In the present paper, we first describe the transferability function, that maps solution descriptors to a score representing how well a simulator matches the ","authors_text":"Jean-Baptiste Mouret, St\\'ephane Doncieux, Sylvain Koos","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/3.0/","primary_cat":"cs.RO","submitted_at":"2013-07-07T14:52:11Z","title":"Crossing the Reality Gap: a Short Introduction to the Transferability Approach"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1307.1870","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":"sha256:893b4ed11ec7b925f7c33e60c90b6050a398568b122839db42f81be49aab354f","target":"record","created_at":"2026-05-18T03:19:03Z","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":"0e2bf93211abd1daddf8609e152a80b5f2acea7cc4d6e24530f8861a9a20e550","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/3.0/","primary_cat":"cs.RO","submitted_at":"2013-07-07T14:52:11Z","title_canon_sha256":"351e0016dbee05653d12abaf5cb1a047a5dec787437738e5b062fa8f65eae101"},"schema_version":"1.0","source":{"id":"1307.1870","kind":"arxiv","version":1}},"canonical_sha256":"8baffc314553d325a91aeab34428ca0c321acbb76ad46d7268858ebc93661d3e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8baffc314553d325a91aeab34428ca0c321acbb76ad46d7268858ebc93661d3e","first_computed_at":"2026-05-18T03:19:03.304626Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:19:03.304626Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"dO+hx28W885LZxv1FcZTX2Cj9VrG9upwYVTFqJqFci5Ydxv0Ec1beLF2edXkhwAF+aCvTZPYIwIKnNchQZVnDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T03:19:03.305158Z","signed_message":"canonical_sha256_bytes"},"source_id":"1307.1870","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:893b4ed11ec7b925f7c33e60c90b6050a398568b122839db42f81be49aab354f","sha256:41b5213b9db017bbfab809af4d53351ffcf5ef46f30b94cd38fa0d974bb802ee"],"state_sha256":"fc9a89e559014478a18547dc3694dd5d65ca49a73a680ac01bdf065aa677df96"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zwZYE9AjAWKdSPWDbkZ7UJ3ns3ODQI4NcRwIXFeT6+HqODPRabTCaUABm69WDH4/Oo1H3QEB3EbcxbLqlM6YCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-02T06:34:51.092673Z","bundle_sha256":"02c7a81945b9bb6e4656bac4b2291fceecb142a9c268756b1407eb726cf69e85"}}