{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:VQJNW5OZEPBECDEHVEI3VP7B24","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":"88ad72ad857b5c72fa992debd52bd975a04ab7f24493de21cef1d291748a3107","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-04T15:43:57Z","title_canon_sha256":"848a8ef0f4633aff1c5c60b863e51da7e22133bc441c4e15d2d01f60926baa13"},"schema_version":"1.0","source":{"id":"2411.02189","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.02189","created_at":"2026-07-05T09:30:43Z"},{"alias_kind":"arxiv_version","alias_value":"2411.02189v1","created_at":"2026-07-05T09:30:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.02189","created_at":"2026-07-05T09:30:43Z"},{"alias_kind":"pith_short_12","alias_value":"VQJNW5OZEPBE","created_at":"2026-07-05T09:30:43Z"},{"alias_kind":"pith_short_16","alias_value":"VQJNW5OZEPBECDEH","created_at":"2026-07-05T09:30:43Z"},{"alias_kind":"pith_short_8","alias_value":"VQJNW5OZ","created_at":"2026-07-05T09:30:43Z"}],"graph_snapshots":[{"event_id":"sha256:c869cc2a55317eb542b41ea12518e98b4b543967fb4f10eb8fb2aac0837de855","target":"graph","created_at":"2026-07-05T09:30:43Z","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/2411.02189/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Differentiable simulators provide analytic gradients, enabling more sample-efficient learning algorithms and paving the way for data intensive learning tasks such as learning from images. In this work, we demonstrate that locomotion policies trained with analytic gradients from a differentiable simulator can be successfully transferred to the real world. Typically, simulators that offer informative gradients lack the physical accuracy needed for sim-to-real transfer, and vice-versa. A key factor in our success is a smooth contact model that combines informative gradients with physical accuracy","authors_text":"Animesh Garg, Clemens Schwarke, Ignat Georgiev, Jean-Pierre Sleiman, Jesus Tordesillas, Joshua Bagajo, Marco Hutter, Victor Klemm","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-04T15:43:57Z","title":"DiffSim2Real: Deploying Quadrupedal Locomotion Policies Purely Trained in Differentiable Simulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.02189","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":"sha256:879285269fe4635798fbeca4a6b6bbd429ea3c8e6bf1fbd6da1c07766d0074a1","target":"record","created_at":"2026-07-05T09:30:43Z","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":"88ad72ad857b5c72fa992debd52bd975a04ab7f24493de21cef1d291748a3107","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-04T15:43:57Z","title_canon_sha256":"848a8ef0f4633aff1c5c60b863e51da7e22133bc441c4e15d2d01f60926baa13"},"schema_version":"1.0","source":{"id":"2411.02189","kind":"arxiv","version":1}},"canonical_sha256":"ac12db75d923c2410c87a911babfe1d734e96a1825708c9654dc48018dfb8459","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ac12db75d923c2410c87a911babfe1d734e96a1825708c9654dc48018dfb8459","first_computed_at":"2026-07-05T09:30:43.141047Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:30:43.141047Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"G7BE2rvsHy2rilDFWHpCH8co7pDlB+0PTbOXmMEx/h8cNR87trg1MTfXcyO0dPX+yLsoPiXlptRgOCj02/9ZBA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:30:43.141629Z","signed_message":"canonical_sha256_bytes"},"source_id":"2411.02189","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:879285269fe4635798fbeca4a6b6bbd429ea3c8e6bf1fbd6da1c07766d0074a1","sha256:c869cc2a55317eb542b41ea12518e98b4b543967fb4f10eb8fb2aac0837de855"],"state_sha256":"91bf1da59f0edd0600166908e261872717ea10485174b21eacfa95a41bf84442"}