{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:YFF4AKZPSCVEKV3BLLNXB5XAWB","short_pith_number":"pith:YFF4AKZP","canonical_record":{"source":{"id":"2201.11924","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-01-28T04:15:38Z","cross_cats_sorted":[],"title_canon_sha256":"5be1aa0153a5690ebadbdc32deb3f2b285a8bbc93c6c3e19bf6cf71b824250ce","abstract_canon_sha256":"b75f6e78594e88e9ad763e128bed7fedfaf334c588a05f59135f8f19f74eed08"},"schema_version":"1.0"},"canonical_sha256":"c14bc02b2f90aa4557615adb70f6e0b05c7c9b8dc38d6b7f5ffbf94fd94a02b5","source":{"kind":"arxiv","id":"2201.11924","version":4},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2201.11924","created_at":"2026-07-05T05:31:00Z"},{"alias_kind":"arxiv_version","alias_value":"2201.11924v4","created_at":"2026-07-05T05:31:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2201.11924","created_at":"2026-07-05T05:31:00Z"},{"alias_kind":"pith_short_12","alias_value":"YFF4AKZPSCVE","created_at":"2026-07-05T05:31:00Z"},{"alias_kind":"pith_short_16","alias_value":"YFF4AKZPSCVEKV3B","created_at":"2026-07-05T05:31:00Z"},{"alias_kind":"pith_short_8","alias_value":"YFF4AKZP","created_at":"2026-07-05T05:31:00Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:YFF4AKZPSCVEKV3BLLNXB5XAWB","target":"record","payload":{"canonical_record":{"source":{"id":"2201.11924","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-01-28T04:15:38Z","cross_cats_sorted":[],"title_canon_sha256":"5be1aa0153a5690ebadbdc32deb3f2b285a8bbc93c6c3e19bf6cf71b824250ce","abstract_canon_sha256":"b75f6e78594e88e9ad763e128bed7fedfaf334c588a05f59135f8f19f74eed08"},"schema_version":"1.0"},"canonical_sha256":"c14bc02b2f90aa4557615adb70f6e0b05c7c9b8dc38d6b7f5ffbf94fd94a02b5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:31:00.930028Z","signature_b64":"fdaPLt+njpwvo0ofadaSsFC7ABuHtknRpAXJSxtLWNypGqBt2dJSZuCotNqGLJbLb9fFE25om3uRfbVvctcBAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c14bc02b2f90aa4557615adb70f6e0b05c7c9b8dc38d6b7f5ffbf94fd94a02b5","last_reissued_at":"2026-07-05T05:31:00.929543Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:31:00.929543Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2201.11924","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":"2026-07-05T05:31:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DILGpT7WD10SY4aeOaXicTp3uBt1XpyBxZzq987suvsp9bpH+E10oWIY2tju93xAUl/XXgIoZMpNC5Qte3npAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T06:54:52.228335Z"},"content_sha256":"44a10e8349a12b2884f629b6d3211f6a7351c778d508c2790abb18d4b3a25b8a","schema_version":"1.0","event_id":"sha256:44a10e8349a12b2884f629b6d3211f6a7351c778d508c2790abb18d4b3a25b8a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:YFF4AKZPSCVEKV3BLLNXB5XAWB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Close the Optical Sensing Domain Gap by Physics-Grounded Active Stereo Sensor Simulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ang Li, Fanbo Xiang, Hao Su, Jiayuan Gu, Jing Xu, Minghua Liu, Peiyu Zeng, Rui Chen, Songfang Han, Tongzhou Mu, Xiaoshuai Zhang, Yuzhe Qin, Zhan Ling, Zhiao Huang","submitted_at":"2022-01-28T04:15:38Z","abstract_excerpt":"In this paper, we focus on the simulation of active stereovision depth sensors, which are popular in both academic and industry communities. Inspired by the underlying mechanism of the sensors, we designed a fully physics-grounded simulation pipeline that includes material acquisition, ray-tracing-based infrared (IR) image rendering, IR noise simulation, and depth estimation. The pipeline is able to generate depth maps with material-dependent error patterns similar to a real depth sensor in real time. We conduct real experiments to show that perception algorithms and reinforcement learning pol"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2201.11924","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/2201.11924/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":"2026-07-05T05:31:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Q7C0x0s6a/Rk6PPj3gH7vml99x0GJ+oW7JUacOogDydL3afH2W1UzGtjwX1d+SPRuyl/VpZgOhotz7OvrAVbCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T06:54:52.228718Z"},"content_sha256":"a32b410630a85251c99c537b085c3afae3f33e7d5df92d2eb081bd57c5495081","schema_version":"1.0","event_id":"sha256:a32b410630a85251c99c537b085c3afae3f33e7d5df92d2eb081bd57c5495081"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YFF4AKZPSCVEKV3BLLNXB5XAWB/bundle.json","state_url":"https://pith.science/pith/YFF4AKZPSCVEKV3BLLNXB5XAWB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YFF4AKZPSCVEKV3BLLNXB5XAWB/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":"2026-07-07T06:54:52Z","links":{"resolver":"https://pith.science/pith/YFF4AKZPSCVEKV3BLLNXB5XAWB","bundle":"https://pith.science/pith/YFF4AKZPSCVEKV3BLLNXB5XAWB/bundle.json","state":"https://pith.science/pith/YFF4AKZPSCVEKV3BLLNXB5XAWB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YFF4AKZPSCVEKV3BLLNXB5XAWB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:YFF4AKZPSCVEKV3BLLNXB5XAWB","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":"b75f6e78594e88e9ad763e128bed7fedfaf334c588a05f59135f8f19f74eed08","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-01-28T04:15:38Z","title_canon_sha256":"5be1aa0153a5690ebadbdc32deb3f2b285a8bbc93c6c3e19bf6cf71b824250ce"},"schema_version":"1.0","source":{"id":"2201.11924","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2201.11924","created_at":"2026-07-05T05:31:00Z"},{"alias_kind":"arxiv_version","alias_value":"2201.11924v4","created_at":"2026-07-05T05:31:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2201.11924","created_at":"2026-07-05T05:31:00Z"},{"alias_kind":"pith_short_12","alias_value":"YFF4AKZPSCVE","created_at":"2026-07-05T05:31:00Z"},{"alias_kind":"pith_short_16","alias_value":"YFF4AKZPSCVEKV3B","created_at":"2026-07-05T05:31:00Z"},{"alias_kind":"pith_short_8","alias_value":"YFF4AKZP","created_at":"2026-07-05T05:31:00Z"}],"graph_snapshots":[{"event_id":"sha256:a32b410630a85251c99c537b085c3afae3f33e7d5df92d2eb081bd57c5495081","target":"graph","created_at":"2026-07-05T05:31:00Z","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/2201.11924/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we focus on the simulation of active stereovision depth sensors, which are popular in both academic and industry communities. Inspired by the underlying mechanism of the sensors, we designed a fully physics-grounded simulation pipeline that includes material acquisition, ray-tracing-based infrared (IR) image rendering, IR noise simulation, and depth estimation. The pipeline is able to generate depth maps with material-dependent error patterns similar to a real depth sensor in real time. We conduct real experiments to show that perception algorithms and reinforcement learning pol","authors_text":"Ang Li, Fanbo Xiang, Hao Su, Jiayuan Gu, Jing Xu, Minghua Liu, Peiyu Zeng, Rui Chen, Songfang Han, Tongzhou Mu, Xiaoshuai Zhang, Yuzhe Qin, Zhan Ling, Zhiao Huang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-01-28T04:15:38Z","title":"Close the Optical Sensing Domain Gap by Physics-Grounded Active Stereo Sensor Simulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2201.11924","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":"sha256:44a10e8349a12b2884f629b6d3211f6a7351c778d508c2790abb18d4b3a25b8a","target":"record","created_at":"2026-07-05T05:31:00Z","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":"b75f6e78594e88e9ad763e128bed7fedfaf334c588a05f59135f8f19f74eed08","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-01-28T04:15:38Z","title_canon_sha256":"5be1aa0153a5690ebadbdc32deb3f2b285a8bbc93c6c3e19bf6cf71b824250ce"},"schema_version":"1.0","source":{"id":"2201.11924","kind":"arxiv","version":4}},"canonical_sha256":"c14bc02b2f90aa4557615adb70f6e0b05c7c9b8dc38d6b7f5ffbf94fd94a02b5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c14bc02b2f90aa4557615adb70f6e0b05c7c9b8dc38d6b7f5ffbf94fd94a02b5","first_computed_at":"2026-07-05T05:31:00.929543Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:31:00.929543Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"fdaPLt+njpwvo0ofadaSsFC7ABuHtknRpAXJSxtLWNypGqBt2dJSZuCotNqGLJbLb9fFE25om3uRfbVvctcBAA==","signature_status":"signed_v1","signed_at":"2026-07-05T05:31:00.930028Z","signed_message":"canonical_sha256_bytes"},"source_id":"2201.11924","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:44a10e8349a12b2884f629b6d3211f6a7351c778d508c2790abb18d4b3a25b8a","sha256:a32b410630a85251c99c537b085c3afae3f33e7d5df92d2eb081bd57c5495081"],"state_sha256":"435530fc06cbdd277eec8f161ca640eac61d9965568ec6149e4d7767a2db7298"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tYbDQ8H0MQNH72oppnDIQb/Nt9dFnG1WvuohDQTNUR46ymVSNvX8TzSB4ktyg+CnCvx3rTfOLyHCmmM2Dz+RBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T06:54:52.230739Z","bundle_sha256":"02fd2486beefb8fe6c157ab349d85a9438ce588c00ef78bcc61fd0ae00a4add8"}}