{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:Y7FFO426BEHEAVCYCWGN7WCSZE","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":"493b91e5679cb53e1da9202d4854e302cbf759ed4542d7ef84c0cd0bba5a00a9","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T11:55:06Z","title_canon_sha256":"ed35577bcf04904d2410b395364dc9d9114e759e4a6133e98854248233a8d93b"},"schema_version":"1.0","source":{"id":"2409.10204","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.10204","created_at":"2026-07-05T10:37:33Z"},{"alias_kind":"arxiv_version","alias_value":"2409.10204v1","created_at":"2026-07-05T10:37:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.10204","created_at":"2026-07-05T10:37:33Z"},{"alias_kind":"pith_short_12","alias_value":"Y7FFO426BEHE","created_at":"2026-07-05T10:37:33Z"},{"alias_kind":"pith_short_16","alias_value":"Y7FFO426BEHEAVCY","created_at":"2026-07-05T10:37:33Z"},{"alias_kind":"pith_short_8","alias_value":"Y7FFO426","created_at":"2026-07-05T10:37:33Z"}],"graph_snapshots":[{"event_id":"sha256:aef7044b8187670f7760550344e1bbff145721be1d57588dfdce83d0db44288f","target":"graph","created_at":"2026-07-05T10:37:33Z","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/2409.10204/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Recent advances in robotic learning in simulation have shown impressive results in accelerating learning complex manipulation skills. However, the sim-to-real gap, caused by discrepancies between simulation and reality, poses significant challenges for the effective deployment of autonomous surgical systems. We propose a novel approach utilizing image translation models to mitigate domain mismatches and facilitate efficient robot skill learning in a simulated environment. Our method involves the use of contrastive unpaired Image-to-image translation, allowing for the acquisition of embedded re","authors_text":"Ana Davila, Jacinto Colan, Keisuke Sugita, Yasuhisa Hasegawa, Yutaro Yamada","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T11:55:06Z","title":"Embedded Image-to-Image Translation for Efficient Sim-to-Real Transfer in Learning-based Robot-Assisted Soft Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.10204","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":"sha256:926c14b9d6e76baba7d708c208048de97539def6de42ac8e330e8727491cdc45","target":"record","created_at":"2026-07-05T10:37:33Z","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":"493b91e5679cb53e1da9202d4854e302cbf759ed4542d7ef84c0cd0bba5a00a9","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-16T11:55:06Z","title_canon_sha256":"ed35577bcf04904d2410b395364dc9d9114e759e4a6133e98854248233a8d93b"},"schema_version":"1.0","source":{"id":"2409.10204","kind":"arxiv","version":1}},"canonical_sha256":"c7ca57735e090e405458158cdfd852c92f8e9c548d2ab034acc83c9b54f7c974","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c7ca57735e090e405458158cdfd852c92f8e9c548d2ab034acc83c9b54f7c974","first_computed_at":"2026-07-05T10:37:33.095959Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:37:33.095959Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"42thQzGnOKfD1V3TDcACHkQjHIpD8gklgktrXuDfqyiZHDlmM076sVlpcPvrb7mkyCUbjC0+B8FKVHLqqnCwBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T10:37:33.096611Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.10204","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:926c14b9d6e76baba7d708c208048de97539def6de42ac8e330e8727491cdc45","sha256:aef7044b8187670f7760550344e1bbff145721be1d57588dfdce83d0db44288f"],"state_sha256":"0d4694419b957d12a228ede7c044d540efe994f2d1b3fd919f3e4138f7f22bdf"}