{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:ZHWSGPLPTFMCIQ4OONFHD2O2F3","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":"95fc108c5b21227b20cbbb00bab398b1cd73e003f0e77a0e601aeef10835830c","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-18T13:53:53Z","title_canon_sha256":"3048743f64a3aeec14c455e934d6a95c9e690b68e50e8aa5c3d7746069fcb0c1"},"schema_version":"1.0","source":{"id":"2505.12428","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.12428","created_at":"2026-07-05T11:05:04Z"},{"alias_kind":"arxiv_version","alias_value":"2505.12428v1","created_at":"2026-07-05T11:05:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.12428","created_at":"2026-07-05T11:05:04Z"},{"alias_kind":"pith_short_12","alias_value":"ZHWSGPLPTFMC","created_at":"2026-07-05T11:05:04Z"},{"alias_kind":"pith_short_16","alias_value":"ZHWSGPLPTFMCIQ4O","created_at":"2026-07-05T11:05:04Z"},{"alias_kind":"pith_short_8","alias_value":"ZHWSGPLP","created_at":"2026-07-05T11:05:04Z"}],"graph_snapshots":[{"event_id":"sha256:a636670fcaee7ac81c49745aaae4a8c9f217d4260b788bfe1c589cf03f14f88b","target":"graph","created_at":"2026-07-05T11:05:04Z","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/2505.12428/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Sim-to-real transfer is a fundamental challenge in robot reinforcement learning. Discrepancies between simulation and reality can significantly impair policy performance, especially if it receives high-dimensional inputs such as dense depth estimates from vision. We propose a novel depth transfer method based on domain adaptation to bridge the visual gap between simulated and real-world depth data. A Variational Autoencoder (VAE) is first trained to encode ground-truth depth images from simulation into a latent space, which serves as input to a reinforcement learning (RL) policy. During deploy","authors_text":"Christophe de Wagter, Guido C. H. E de Croon, Hang Yu","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-18T13:53:53Z","title":"Depth Transfer: Learning to See Like a Simulator for Real-World Drone Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.12428","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:e9e0dd3a841b7fd4f42563492ab7b7c7152b3edc1c22981e797685b89b2aeb03","target":"record","created_at":"2026-07-05T11:05:04Z","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":"95fc108c5b21227b20cbbb00bab398b1cd73e003f0e77a0e601aeef10835830c","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-18T13:53:53Z","title_canon_sha256":"3048743f64a3aeec14c455e934d6a95c9e690b68e50e8aa5c3d7746069fcb0c1"},"schema_version":"1.0","source":{"id":"2505.12428","kind":"arxiv","version":1}},"canonical_sha256":"c9ed233d6f995824438e734a71e9da2ecaeeb016cd47a92107b7022ecfefdbff","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c9ed233d6f995824438e734a71e9da2ecaeeb016cd47a92107b7022ecfefdbff","first_computed_at":"2026-07-05T11:05:04.007160Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:05:04.007160Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4jzWWMxTURCm92BOYU6U/9DpT0Tmm46MsQGuIFHlgL2qJLE/2B3dgGGHOISbl8qBAQYWKrFGm5yQzee5mHcgBg==","signature_status":"signed_v1","signed_at":"2026-07-05T11:05:04.007652Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.12428","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e9e0dd3a841b7fd4f42563492ab7b7c7152b3edc1c22981e797685b89b2aeb03","sha256:a636670fcaee7ac81c49745aaae4a8c9f217d4260b788bfe1c589cf03f14f88b"],"state_sha256":"3d445d8430d76371edb0bf0bc39ed7095f901bc3ea5d1e92302029ce1c34463a"}