{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:VPSUNFRH22THZFP5VPHMV7QORW","short_pith_number":"pith:VPSUNFRH","canonical_record":{"source":{"id":"2412.00259","kind":"arxiv","version":4},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-29T21:02:02Z","cross_cats_sorted":["cs.CV","cs.GR"],"title_canon_sha256":"d30602857743193423941aa77585192d2420857545298659376311906cbe5574","abstract_canon_sha256":"935e518a47cc7d4ceba438c2b8b08fcbd980c5768cc00c02dfaafc6de7997a26"},"schema_version":"1.0"},"canonical_sha256":"abe5469627d6a67c95fdabcecafe0e8d8e3b3f903049d397d41d01c2b55f393a","source":{"kind":"arxiv","id":"2412.00259","version":4},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.00259","created_at":"2026-07-05T11:01:02Z"},{"alias_kind":"arxiv_version","alias_value":"2412.00259v4","created_at":"2026-07-05T11:01:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.00259","created_at":"2026-07-05T11:01:02Z"},{"alias_kind":"pith_short_12","alias_value":"VPSUNFRH22TH","created_at":"2026-07-05T11:01:02Z"},{"alias_kind":"pith_short_16","alias_value":"VPSUNFRH22THZFP5","created_at":"2026-07-05T11:01:02Z"},{"alias_kind":"pith_short_8","alias_value":"VPSUNFRH","created_at":"2026-07-05T11:01:02Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:VPSUNFRH22THZFP5VPHMV7QORW","target":"record","payload":{"canonical_record":{"source":{"id":"2412.00259","kind":"arxiv","version":4},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-29T21:02:02Z","cross_cats_sorted":["cs.CV","cs.GR"],"title_canon_sha256":"d30602857743193423941aa77585192d2420857545298659376311906cbe5574","abstract_canon_sha256":"935e518a47cc7d4ceba438c2b8b08fcbd980c5768cc00c02dfaafc6de7997a26"},"schema_version":"1.0"},"canonical_sha256":"abe5469627d6a67c95fdabcecafe0e8d8e3b3f903049d397d41d01c2b55f393a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:01:02.625852Z","signature_b64":"EuZE/PRCRqnmMd+It7kmyJKhB/NAIEMIPKZWNu0DGNAs/G2/Pxle2BMQiR15q9rUpYZ4A2SmwnFZEU/zj29FCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"abe5469627d6a67c95fdabcecafe0e8d8e3b3f903049d397d41d01c2b55f393a","last_reissued_at":"2026-07-05T11:01:02.625361Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:01:02.625361Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2412.00259","source_version":4,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T11:01:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bReeu9Zws+a/pMZ7iaxyHdfYr2s4wGafpRQR7i4ukrQAMCxRxZGW/nHEFwGKIwHJ3YNxMC9ErBk0q8lvIqBSCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T21:41:25.082299Z"},"content_sha256":"d07fe3c1fe576a392701a9668fd437b0a22ca06ce16b82ecae200c01b5acc822","schema_version":"1.0","event_id":"sha256:d07fe3c1fe576a392701a9668fd437b0a22ca06ce16b82ecae200c01b5acc822"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:VPSUNFRH22THZFP5VPHMV7QORW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"One-Shot Real-to-Sim via End-to-End Differentiable Simulation and Rendering","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV","cs.GR"],"primary_cat":"cs.RO","authors_text":"Aaron Dollar, Tianyi Xiang, Yifan Zhu, Zherong Pan","submitted_at":"2024-11-29T21:02:02Z","abstract_excerpt":"Identifying predictive world models for robots in novel environments from sparse online observations is essential for robot task planning and execution in novel environments. However, existing methods that leverage differentiable programming to identify world models are incapable of jointly optimizing the geometry, appearance, and physical properties of the scene. In this work, we introduce a novel rigid object representation that allows the joint identification of these properties. Our method employs a novel differentiable point-based geometry representation coupled with a grid-based appearan"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.00259","kind":"arxiv","version":4},"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/2412.00259/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":"2026-07-05T11:01:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Huv81f0+Bl6M8uAnBHkef6Q02m9Ch1NKh4n14FMBZ18Fk9EaF1CKXqfvrpy2Pxy8w8yddOwQUC9Dcn/7S8oyDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T21:41:25.082855Z"},"content_sha256":"2fa5377e793c5ffe5f5e782006e4a9c0ec9ec7f9e5d7472cbe55cdf54a798e87","schema_version":"1.0","event_id":"sha256:2fa5377e793c5ffe5f5e782006e4a9c0ec9ec7f9e5d7472cbe55cdf54a798e87"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VPSUNFRH22THZFP5VPHMV7QORW/bundle.json","state_url":"https://pith.science/pith/VPSUNFRH22THZFP5VPHMV7QORW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VPSUNFRH22THZFP5VPHMV7QORW/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":"2026-08-05T21:41:25Z","links":{"resolver":"https://pith.science/pith/VPSUNFRH22THZFP5VPHMV7QORW","bundle":"https://pith.science/pith/VPSUNFRH22THZFP5VPHMV7QORW/bundle.json","state":"https://pith.science/pith/VPSUNFRH22THZFP5VPHMV7QORW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VPSUNFRH22THZFP5VPHMV7QORW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:VPSUNFRH22THZFP5VPHMV7QORW","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":"935e518a47cc7d4ceba438c2b8b08fcbd980c5768cc00c02dfaafc6de7997a26","cross_cats_sorted":["cs.CV","cs.GR"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-29T21:02:02Z","title_canon_sha256":"d30602857743193423941aa77585192d2420857545298659376311906cbe5574"},"schema_version":"1.0","source":{"id":"2412.00259","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.00259","created_at":"2026-07-05T11:01:02Z"},{"alias_kind":"arxiv_version","alias_value":"2412.00259v4","created_at":"2026-07-05T11:01:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.00259","created_at":"2026-07-05T11:01:02Z"},{"alias_kind":"pith_short_12","alias_value":"VPSUNFRH22TH","created_at":"2026-07-05T11:01:02Z"},{"alias_kind":"pith_short_16","alias_value":"VPSUNFRH22THZFP5","created_at":"2026-07-05T11:01:02Z"},{"alias_kind":"pith_short_8","alias_value":"VPSUNFRH","created_at":"2026-07-05T11:01:02Z"}],"graph_snapshots":[{"event_id":"sha256:2fa5377e793c5ffe5f5e782006e4a9c0ec9ec7f9e5d7472cbe55cdf54a798e87","target":"graph","created_at":"2026-07-05T11:01:02Z","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/2412.00259/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Identifying predictive world models for robots in novel environments from sparse online observations is essential for robot task planning and execution in novel environments. However, existing methods that leverage differentiable programming to identify world models are incapable of jointly optimizing the geometry, appearance, and physical properties of the scene. In this work, we introduce a novel rigid object representation that allows the joint identification of these properties. Our method employs a novel differentiable point-based geometry representation coupled with a grid-based appearan","authors_text":"Aaron Dollar, Tianyi Xiang, Yifan Zhu, Zherong Pan","cross_cats":["cs.CV","cs.GR"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-29T21:02:02Z","title":"One-Shot Real-to-Sim via End-to-End Differentiable Simulation and Rendering"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.00259","kind":"arxiv","version":4},"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:d07fe3c1fe576a392701a9668fd437b0a22ca06ce16b82ecae200c01b5acc822","target":"record","created_at":"2026-07-05T11:01:02Z","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":"935e518a47cc7d4ceba438c2b8b08fcbd980c5768cc00c02dfaafc6de7997a26","cross_cats_sorted":["cs.CV","cs.GR"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-29T21:02:02Z","title_canon_sha256":"d30602857743193423941aa77585192d2420857545298659376311906cbe5574"},"schema_version":"1.0","source":{"id":"2412.00259","kind":"arxiv","version":4}},"canonical_sha256":"abe5469627d6a67c95fdabcecafe0e8d8e3b3f903049d397d41d01c2b55f393a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"abe5469627d6a67c95fdabcecafe0e8d8e3b3f903049d397d41d01c2b55f393a","first_computed_at":"2026-07-05T11:01:02.625361Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:01:02.625361Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"EuZE/PRCRqnmMd+It7kmyJKhB/NAIEMIPKZWNu0DGNAs/G2/Pxle2BMQiR15q9rUpYZ4A2SmwnFZEU/zj29FCA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:01:02.625852Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.00259","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d07fe3c1fe576a392701a9668fd437b0a22ca06ce16b82ecae200c01b5acc822","sha256:2fa5377e793c5ffe5f5e782006e4a9c0ec9ec7f9e5d7472cbe55cdf54a798e87"],"state_sha256":"1ed8612939bcc721ce926a8a5ac24768d10b7efc266946c9b8fdf755ccd62799"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5SUb583ybRddjE90srU/fsrTJjF3G4BdIBHKMpa4jySrSYxo14HLbqquey3M8Orecw8xHO9W67mTJrIyQ3NZCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T21:41:25.088048Z","bundle_sha256":"732aca1ac15a9510cdb7ce31700c6d3df4429bc431a3d9a8d143cadf5487e9e4"}}