{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:5KMRH4Q7D5MXZ5UIM64GNRV34C","short_pith_number":"pith:5KMRH4Q7","canonical_record":{"source":{"id":"2606.16447","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-15T09:19:34Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"8d6cf53d081a3b5435d90f658094fff5ffdd4dc46002ebe0e1c4a524020e3b34","abstract_canon_sha256":"90278c89c33dfc7b24a37889b969b5a9a2a1f40c6a586d11d0a950a567651009"},"schema_version":"1.0"},"canonical_sha256":"ea9913f21f1f597cf68867b866c6bbe082966a6cac15e629402b55f906f78b94","source":{"kind":"arxiv","id":"2606.16447","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.16447","created_at":"2026-07-10T01:19:02Z"},{"alias_kind":"arxiv_version","alias_value":"2606.16447v2","created_at":"2026-07-10T01:19:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.16447","created_at":"2026-07-10T01:19:02Z"},{"alias_kind":"pith_short_12","alias_value":"5KMRH4Q7D5MX","created_at":"2026-07-10T01:19:02Z"},{"alias_kind":"pith_short_16","alias_value":"5KMRH4Q7D5MXZ5UI","created_at":"2026-07-10T01:19:02Z"},{"alias_kind":"pith_short_8","alias_value":"5KMRH4Q7","created_at":"2026-07-10T01:19:02Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:5KMRH4Q7D5MXZ5UIM64GNRV34C","target":"record","payload":{"canonical_record":{"source":{"id":"2606.16447","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-15T09:19:34Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"8d6cf53d081a3b5435d90f658094fff5ffdd4dc46002ebe0e1c4a524020e3b34","abstract_canon_sha256":"90278c89c33dfc7b24a37889b969b5a9a2a1f40c6a586d11d0a950a567651009"},"schema_version":"1.0"},"canonical_sha256":"ea9913f21f1f597cf68867b866c6bbe082966a6cac15e629402b55f906f78b94","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-10T01:19:02.534058Z","signature_b64":"kiiv+o4gDg5Djaro1wCqY+aL+w/GLdADW5wAZpLnb1QTmIhsUZg2qGrRzv7d11mhGR5kMmAPjIlACsKBWEawBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ea9913f21f1f597cf68867b866c6bbe082966a6cac15e629402b55f906f78b94","last_reissued_at":"2026-07-10T01:19:02.533650Z","signature_status":"signed_v1","first_computed_at":"2026-07-10T01:19:02.533650Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.16447","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-10T01:19:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EYGtvcz70j1txlQsZgnm2ygetHhGlXSoiwg1btm/Ju9/NqnomaOZ8dMKgcNxgfnZPZMQE94ESafxOlKKosH0AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T16:48:42.782960Z"},"content_sha256":"616b2e501b14541da6c36d7ba5baa3af17e07a5dab03a81482aa5f5a8934d0f7","schema_version":"1.0","event_id":"sha256:616b2e501b14541da6c36d7ba5baa3af17e07a5dab03a81482aa5f5a8934d0f7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:5KMRH4Q7D5MXZ5UIM64GNRV34C","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Training and Evaluating Diffusion Policies with Long Context Lengths","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Abhinav Agarwal, Adam Wei, Arif Kerem Dayi, Asuman Ozdaglar, Cole Becker, Michael Zeng, Pablo Parrilo, Russ Tedrake, Taylan Kargin","submitted_at":"2026-06-15T09:19:34Z","abstract_excerpt":"Imitation learning has enabled highly-dexterous robotic manipulation from RGB observations. Policies trained with these methods, however, typically condition robot actions on only a short history of observations. These policies cannot solve tasks that require memory and can get stuck repeatedly executing the same failing motions. In this work, we first benchmark policy performance as context length is incrementally increased from short to long, across a spectrum of tasks with varying local stability and memory requirements, and in multiple data regimes. To our knowledge, this is the first stud"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.16447","kind":"arxiv","version":2},"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/2606.16447/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":"2026-07-10T01:19:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9mpNQnEJm/H9Ua64HsBGXUzhjGKTnwVk46CMYPiRy3EPKXIOoBc1yaG0gWo9IVcn3IFEbdtyqelsADju/T7VBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T16:48:42.783905Z"},"content_sha256":"d6e6c2fc39640010c7fdcb149a099009ae09e86d802c022099845815ad6875d4","schema_version":"1.0","event_id":"sha256:d6e6c2fc39640010c7fdcb149a099009ae09e86d802c022099845815ad6875d4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5KMRH4Q7D5MXZ5UIM64GNRV34C/bundle.json","state_url":"https://pith.science/pith/5KMRH4Q7D5MXZ5UIM64GNRV34C/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5KMRH4Q7D5MXZ5UIM64GNRV34C/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":"2026-08-13T16:48:42Z","links":{"resolver":"https://pith.science/pith/5KMRH4Q7D5MXZ5UIM64GNRV34C","bundle":"https://pith.science/pith/5KMRH4Q7D5MXZ5UIM64GNRV34C/bundle.json","state":"https://pith.science/pith/5KMRH4Q7D5MXZ5UIM64GNRV34C/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5KMRH4Q7D5MXZ5UIM64GNRV34C/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:5KMRH4Q7D5MXZ5UIM64GNRV34C","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":"90278c89c33dfc7b24a37889b969b5a9a2a1f40c6a586d11d0a950a567651009","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-15T09:19:34Z","title_canon_sha256":"8d6cf53d081a3b5435d90f658094fff5ffdd4dc46002ebe0e1c4a524020e3b34"},"schema_version":"1.0","source":{"id":"2606.16447","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.16447","created_at":"2026-07-10T01:19:02Z"},{"alias_kind":"arxiv_version","alias_value":"2606.16447v2","created_at":"2026-07-10T01:19:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.16447","created_at":"2026-07-10T01:19:02Z"},{"alias_kind":"pith_short_12","alias_value":"5KMRH4Q7D5MX","created_at":"2026-07-10T01:19:02Z"},{"alias_kind":"pith_short_16","alias_value":"5KMRH4Q7D5MXZ5UI","created_at":"2026-07-10T01:19:02Z"},{"alias_kind":"pith_short_8","alias_value":"5KMRH4Q7","created_at":"2026-07-10T01:19:02Z"}],"graph_snapshots":[{"event_id":"sha256:d6e6c2fc39640010c7fdcb149a099009ae09e86d802c022099845815ad6875d4","target":"graph","created_at":"2026-07-10T01:19:02Z","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/2606.16447/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Imitation learning has enabled highly-dexterous robotic manipulation from RGB observations. Policies trained with these methods, however, typically condition robot actions on only a short history of observations. These policies cannot solve tasks that require memory and can get stuck repeatedly executing the same failing motions. In this work, we first benchmark policy performance as context length is incrementally increased from short to long, across a spectrum of tasks with varying local stability and memory requirements, and in multiple data regimes. To our knowledge, this is the first stud","authors_text":"Abhinav Agarwal, Adam Wei, Arif Kerem Dayi, Asuman Ozdaglar, Cole Becker, Michael Zeng, Pablo Parrilo, Russ Tedrake, Taylan Kargin","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-15T09:19:34Z","title":"Training and Evaluating Diffusion Policies with Long Context Lengths"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.16447","kind":"arxiv","version":2},"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":"sha256:616b2e501b14541da6c36d7ba5baa3af17e07a5dab03a81482aa5f5a8934d0f7","target":"record","created_at":"2026-07-10T01:19:02Z","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":"90278c89c33dfc7b24a37889b969b5a9a2a1f40c6a586d11d0a950a567651009","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-15T09:19:34Z","title_canon_sha256":"8d6cf53d081a3b5435d90f658094fff5ffdd4dc46002ebe0e1c4a524020e3b34"},"schema_version":"1.0","source":{"id":"2606.16447","kind":"arxiv","version":2}},"canonical_sha256":"ea9913f21f1f597cf68867b866c6bbe082966a6cac15e629402b55f906f78b94","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ea9913f21f1f597cf68867b866c6bbe082966a6cac15e629402b55f906f78b94","first_computed_at":"2026-07-10T01:19:02.533650Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-10T01:19:02.533650Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"kiiv+o4gDg5Djaro1wCqY+aL+w/GLdADW5wAZpLnb1QTmIhsUZg2qGrRzv7d11mhGR5kMmAPjIlACsKBWEawBw==","signature_status":"signed_v1","signed_at":"2026-07-10T01:19:02.534058Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.16447","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:616b2e501b14541da6c36d7ba5baa3af17e07a5dab03a81482aa5f5a8934d0f7","sha256:d6e6c2fc39640010c7fdcb149a099009ae09e86d802c022099845815ad6875d4"],"state_sha256":"78e4982945901a62dfaa73f58aad26a11e2654521a475ca62ddc25eccc498ffd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+VjFWRO8UhPKK7VvpNOleWy6gtEftKpqJgR1AiWJtYVAroUVfl/FIbgEAThhjLEAyv3Ydw+tbTy7CBONvGyqAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-13T16:48:42.799796Z","bundle_sha256":"569829b919f83021a7cb60e1e98e603d3b6bc0268bdb199f88110213d6986b74"}}