{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:5WKQWEC2OEPOXOSTKVE53AYWYS","short_pith_number":"pith:5WKQWEC2","canonical_record":{"source":{"id":"2310.02264","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-03T17:59:46Z","cross_cats_sorted":["cs.CL","cs.CV","cs.LG"],"title_canon_sha256":"6343fcbad5c9fe565935fc4830d0671dd94d49247fd4336a09f1fd438e4d5e52","abstract_canon_sha256":"96742026f8c3f702266ea4ecd03f762bc86cca69e9860b5796064f4a8184df8f"},"schema_version":"1.0"},"canonical_sha256":"ed950b105a711eebba535549dd8316c485d36e2a7adf439faf074b425029ece2","source":{"kind":"arxiv","id":"2310.02264","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.02264","created_at":"2026-07-05T06:56:52Z"},{"alias_kind":"arxiv_version","alias_value":"2310.02264v1","created_at":"2026-07-05T06:56:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.02264","created_at":"2026-07-05T06:56:52Z"},{"alias_kind":"pith_short_12","alias_value":"5WKQWEC2OEPO","created_at":"2026-07-05T06:56:52Z"},{"alias_kind":"pith_short_16","alias_value":"5WKQWEC2OEPOXOST","created_at":"2026-07-05T06:56:52Z"},{"alias_kind":"pith_short_8","alias_value":"5WKQWEC2","created_at":"2026-07-05T06:56:52Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:5WKQWEC2OEPOXOSTKVE53AYWYS","target":"record","payload":{"canonical_record":{"source":{"id":"2310.02264","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-03T17:59:46Z","cross_cats_sorted":["cs.CL","cs.CV","cs.LG"],"title_canon_sha256":"6343fcbad5c9fe565935fc4830d0671dd94d49247fd4336a09f1fd438e4d5e52","abstract_canon_sha256":"96742026f8c3f702266ea4ecd03f762bc86cca69e9860b5796064f4a8184df8f"},"schema_version":"1.0"},"canonical_sha256":"ed950b105a711eebba535549dd8316c485d36e2a7adf439faf074b425029ece2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:56:52.010606Z","signature_b64":"a+sZO8wy7Rti7dRtbok1iy5aKPZwmLYIBL2G6LyCUzNqlefDssOKqzZmlvV42mNSCi4ybbCFETRaNke6om1MCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ed950b105a711eebba535549dd8316c485d36e2a7adf439faf074b425029ece2","last_reissued_at":"2026-07-05T06:56:52.010113Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:56:52.010113Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2310.02264","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:56:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tadRcikiQA8wvN2voqH6aFFu8BtTdpSoa/1uv6K7w/8yFEWBb5RJtt86YDjKcceUQEd3tElYiEiOtdmYIPCnDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T11:05:43.767721Z"},"content_sha256":"e57ee074fe98e2cf977011282fabecca2c1e7ce9ecb1da039188d1bf4dff1bb6","schema_version":"1.0","event_id":"sha256:e57ee074fe98e2cf977011282fabecca2c1e7ce9ecb1da039188d1bf4dff1bb6"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:5WKQWEC2OEPOXOSTKVE53AYWYS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Generalizable Long-Horizon Manipulations with Large Language Models","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CL","cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Chuang Gan, Haoyu Zhou, Lin Shao, Masayoshi Tomizuka, Mingyu Ding, Weikun Peng","submitted_at":"2023-10-03T17:59:46Z","abstract_excerpt":"This work introduces a framework harnessing the capabilities of Large Language Models (LLMs) to generate primitive task conditions for generalizable long-horizon manipulations with novel objects and unseen tasks. These task conditions serve as guides for the generation and adjustment of Dynamic Movement Primitives (DMP) trajectories for long-horizon task execution. We further create a challenging robotic manipulation task suite based on Pybullet for long-horizon task evaluation. Extensive experiments in both simulated and real-world environments demonstrate the effectiveness of our framework o"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.02264","kind":"arxiv","version":1},"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/2310.02264/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":"2026-07-05T06:56:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tQ4vyE92ZQeDkP1JGkC9Uev9g1q4zI1qJKtgfb5aTLc+GVwZxQxQNNzBykPI1XIO7lr2zcs7k5TVSm7vFXEmDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T11:05:43.768094Z"},"content_sha256":"99037cbc14961f4810bc80aede27431f0d8f1e42c0dd0828cccd775e30aef2d0","schema_version":"1.0","event_id":"sha256:99037cbc14961f4810bc80aede27431f0d8f1e42c0dd0828cccd775e30aef2d0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5WKQWEC2OEPOXOSTKVE53AYWYS/bundle.json","state_url":"https://pith.science/pith/5WKQWEC2OEPOXOSTKVE53AYWYS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5WKQWEC2OEPOXOSTKVE53AYWYS/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":"2026-07-07T11:05:43Z","links":{"resolver":"https://pith.science/pith/5WKQWEC2OEPOXOSTKVE53AYWYS","bundle":"https://pith.science/pith/5WKQWEC2OEPOXOSTKVE53AYWYS/bundle.json","state":"https://pith.science/pith/5WKQWEC2OEPOXOSTKVE53AYWYS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5WKQWEC2OEPOXOSTKVE53AYWYS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:5WKQWEC2OEPOXOSTKVE53AYWYS","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":"96742026f8c3f702266ea4ecd03f762bc86cca69e9860b5796064f4a8184df8f","cross_cats_sorted":["cs.CL","cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-03T17:59:46Z","title_canon_sha256":"6343fcbad5c9fe565935fc4830d0671dd94d49247fd4336a09f1fd438e4d5e52"},"schema_version":"1.0","source":{"id":"2310.02264","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.02264","created_at":"2026-07-05T06:56:52Z"},{"alias_kind":"arxiv_version","alias_value":"2310.02264v1","created_at":"2026-07-05T06:56:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.02264","created_at":"2026-07-05T06:56:52Z"},{"alias_kind":"pith_short_12","alias_value":"5WKQWEC2OEPO","created_at":"2026-07-05T06:56:52Z"},{"alias_kind":"pith_short_16","alias_value":"5WKQWEC2OEPOXOST","created_at":"2026-07-05T06:56:52Z"},{"alias_kind":"pith_short_8","alias_value":"5WKQWEC2","created_at":"2026-07-05T06:56:52Z"}],"graph_snapshots":[{"event_id":"sha256:99037cbc14961f4810bc80aede27431f0d8f1e42c0dd0828cccd775e30aef2d0","target":"graph","created_at":"2026-07-05T06:56:52Z","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/2310.02264/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This work introduces a framework harnessing the capabilities of Large Language Models (LLMs) to generate primitive task conditions for generalizable long-horizon manipulations with novel objects and unseen tasks. These task conditions serve as guides for the generation and adjustment of Dynamic Movement Primitives (DMP) trajectories for long-horizon task execution. We further create a challenging robotic manipulation task suite based on Pybullet for long-horizon task evaluation. Extensive experiments in both simulated and real-world environments demonstrate the effectiveness of our framework o","authors_text":"Chuang Gan, Haoyu Zhou, Lin Shao, Masayoshi Tomizuka, Mingyu Ding, Weikun Peng","cross_cats":["cs.CL","cs.CV","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-03T17:59:46Z","title":"Generalizable Long-Horizon Manipulations with Large Language Models"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.02264","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:e57ee074fe98e2cf977011282fabecca2c1e7ce9ecb1da039188d1bf4dff1bb6","target":"record","created_at":"2026-07-05T06:56:52Z","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":"96742026f8c3f702266ea4ecd03f762bc86cca69e9860b5796064f4a8184df8f","cross_cats_sorted":["cs.CL","cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-03T17:59:46Z","title_canon_sha256":"6343fcbad5c9fe565935fc4830d0671dd94d49247fd4336a09f1fd438e4d5e52"},"schema_version":"1.0","source":{"id":"2310.02264","kind":"arxiv","version":1}},"canonical_sha256":"ed950b105a711eebba535549dd8316c485d36e2a7adf439faf074b425029ece2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ed950b105a711eebba535549dd8316c485d36e2a7adf439faf074b425029ece2","first_computed_at":"2026-07-05T06:56:52.010113Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:56:52.010113Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"a+sZO8wy7Rti7dRtbok1iy5aKPZwmLYIBL2G6LyCUzNqlefDssOKqzZmlvV42mNSCi4ybbCFETRaNke6om1MCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T06:56:52.010606Z","signed_message":"canonical_sha256_bytes"},"source_id":"2310.02264","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e57ee074fe98e2cf977011282fabecca2c1e7ce9ecb1da039188d1bf4dff1bb6","sha256:99037cbc14961f4810bc80aede27431f0d8f1e42c0dd0828cccd775e30aef2d0"],"state_sha256":"4372b9575ef73d14e506a44efea4936ad09718af1eabab6e50678717bbdb98d4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AxQj9tEoCnjisUUn+w08LBFWF5UIScyv2uoTQahwHC9U8WPMnPJbYO3gwy19m3wVACqbDl5UOu3Nuc7EZM8yAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T11:05:43.770092Z","bundle_sha256":"d5838aaf8496dd16774a399d680b3e347bde2a550da0895d970b74113bbb2b88"}}