{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:6LIJHIPHRHKJ3TSBUUSUD6ODBL","short_pith_number":"pith:6LIJHIPH","canonical_record":{"source":{"id":"1811.09656","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2018-11-23T19:55:55Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"e9da0c697c85857df9163f9f551ce005898f8c54a3ddc9bab8ac50617fb2c9b2","abstract_canon_sha256":"0fa6de174f2538aee6184839d5d43cd321d2e8fb5b21d8d871c32276a81ecd3b"},"schema_version":"1.0"},"canonical_sha256":"f2d093a1e789d49dce41a52541f9c30aec43830f7fbfc5ddb676c33559d43d7a","source":{"kind":"arxiv","id":"1811.09656","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1811.09656","created_at":"2026-05-17T23:56:16Z"},{"alias_kind":"arxiv_version","alias_value":"1811.09656v2","created_at":"2026-05-17T23:56:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1811.09656","created_at":"2026-05-17T23:56:16Z"},{"alias_kind":"pith_short_12","alias_value":"6LIJHIPHRHKJ","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"6LIJHIPHRHKJ3TSB","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"6LIJHIPH","created_at":"2026-05-18T12:32:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:6LIJHIPHRHKJ3TSBUUSUD6ODBL","target":"record","payload":{"canonical_record":{"source":{"id":"1811.09656","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2018-11-23T19:55:55Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"e9da0c697c85857df9163f9f551ce005898f8c54a3ddc9bab8ac50617fb2c9b2","abstract_canon_sha256":"0fa6de174f2538aee6184839d5d43cd321d2e8fb5b21d8d871c32276a81ecd3b"},"schema_version":"1.0"},"canonical_sha256":"f2d093a1e789d49dce41a52541f9c30aec43830f7fbfc5ddb676c33559d43d7a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:56:16.668887Z","signature_b64":"HlfjGDbEsh/iWfXG1O1H5auyBbFrOiOwxfE2YlixNlCLGpiDHmS6W15898LtUKbhLJhWmJ0WZECr5Mpqh2msBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f2d093a1e789d49dce41a52541f9c30aec43830f7fbfc5ddb676c33559d43d7a","last_reissued_at":"2026-05-17T23:56:16.668226Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:56:16.668226Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1811.09656","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":"2026-05-17T23:56:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"yo6xRi4buHhUjWdEAJFuOb8CL9Wlcosvs5Ba2z8oncytiFHWWIS96BoqkioMFCrOlp6BGf1aFiTqcgAZyRmyAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T08:45:55.152190Z"},"content_sha256":"ddcaa08f93ae026908e0d0f0c0f2b8300abdf3321d70bd44fe6111c3a9d38c4e","schema_version":"1.0","event_id":"sha256:ddcaa08f93ae026908e0d0f0c0f2b8300abdf3321d70bd44fe6111c3a9d38c4e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:6LIJHIPHRHKJ3TSBUUSUD6ODBL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Hierarchical visuomotor control of humanoids","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.AI","authors_text":"Arun Ahuja, Dhruva Tirumala, Greg Wayne, Josh Merel, Nicolas Heess, Saran Tunyasuvunakool, Siqi Liu, Vu Pham","submitted_at":"2018-11-23T19:55:55Z","abstract_excerpt":"We aim to build complex humanoid agents that integrate perception, motor control, and memory. In this work, we partly factor this problem into low-level motor control from proprioception and high-level coordination of the low-level skills informed by vision. We develop an architecture capable of surprisingly flexible, task-directed motor control of a relatively high-DoF humanoid body by combining pre-training of low-level motor controllers with a high-level, task-focused controller that switches among low-level sub-policies. The resulting system is able to control a physically-simulated humano"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1811.09656","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":""},"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":"2026-05-17T23:56:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"29qB9W7jLh63NkfVdIABvQeDm8aKD5+j3pmyGzTWuI/0L0iYBAP25dkGmigdAgqWPatW2P0EEfQQV5yutQf0Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T08:45:55.152547Z"},"content_sha256":"aac5128b5db9da9981e53af3b5e673cf951e3f5f8435dd0b0134303b2ca2d134","schema_version":"1.0","event_id":"sha256:aac5128b5db9da9981e53af3b5e673cf951e3f5f8435dd0b0134303b2ca2d134"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6LIJHIPHRHKJ3TSBUUSUD6ODBL/bundle.json","state_url":"https://pith.science/pith/6LIJHIPHRHKJ3TSBUUSUD6ODBL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6LIJHIPHRHKJ3TSBUUSUD6ODBL/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":"2026-05-30T08:45:55Z","links":{"resolver":"https://pith.science/pith/6LIJHIPHRHKJ3TSBUUSUD6ODBL","bundle":"https://pith.science/pith/6LIJHIPHRHKJ3TSBUUSUD6ODBL/bundle.json","state":"https://pith.science/pith/6LIJHIPHRHKJ3TSBUUSUD6ODBL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6LIJHIPHRHKJ3TSBUUSUD6ODBL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:6LIJHIPHRHKJ3TSBUUSUD6ODBL","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":"0fa6de174f2538aee6184839d5d43cd321d2e8fb5b21d8d871c32276a81ecd3b","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2018-11-23T19:55:55Z","title_canon_sha256":"e9da0c697c85857df9163f9f551ce005898f8c54a3ddc9bab8ac50617fb2c9b2"},"schema_version":"1.0","source":{"id":"1811.09656","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1811.09656","created_at":"2026-05-17T23:56:16Z"},{"alias_kind":"arxiv_version","alias_value":"1811.09656v2","created_at":"2026-05-17T23:56:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1811.09656","created_at":"2026-05-17T23:56:16Z"},{"alias_kind":"pith_short_12","alias_value":"6LIJHIPHRHKJ","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"6LIJHIPHRHKJ3TSB","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"6LIJHIPH","created_at":"2026-05-18T12:32:08Z"}],"graph_snapshots":[{"event_id":"sha256:aac5128b5db9da9981e53af3b5e673cf951e3f5f8435dd0b0134303b2ca2d134","target":"graph","created_at":"2026-05-17T23:56:16Z","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"},"paper":{"abstract_excerpt":"We aim to build complex humanoid agents that integrate perception, motor control, and memory. In this work, we partly factor this problem into low-level motor control from proprioception and high-level coordination of the low-level skills informed by vision. We develop an architecture capable of surprisingly flexible, task-directed motor control of a relatively high-DoF humanoid body by combining pre-training of low-level motor controllers with a high-level, task-focused controller that switches among low-level sub-policies. The resulting system is able to control a physically-simulated humano","authors_text":"Arun Ahuja, Dhruva Tirumala, Greg Wayne, Josh Merel, Nicolas Heess, Saran Tunyasuvunakool, Siqi Liu, Vu Pham","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2018-11-23T19:55:55Z","title":"Hierarchical visuomotor control of humanoids"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1811.09656","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:ddcaa08f93ae026908e0d0f0c0f2b8300abdf3321d70bd44fe6111c3a9d38c4e","target":"record","created_at":"2026-05-17T23:56:16Z","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":"0fa6de174f2538aee6184839d5d43cd321d2e8fb5b21d8d871c32276a81ecd3b","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2018-11-23T19:55:55Z","title_canon_sha256":"e9da0c697c85857df9163f9f551ce005898f8c54a3ddc9bab8ac50617fb2c9b2"},"schema_version":"1.0","source":{"id":"1811.09656","kind":"arxiv","version":2}},"canonical_sha256":"f2d093a1e789d49dce41a52541f9c30aec43830f7fbfc5ddb676c33559d43d7a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f2d093a1e789d49dce41a52541f9c30aec43830f7fbfc5ddb676c33559d43d7a","first_computed_at":"2026-05-17T23:56:16.668226Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:56:16.668226Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"HlfjGDbEsh/iWfXG1O1H5auyBbFrOiOwxfE2YlixNlCLGpiDHmS6W15898LtUKbhLJhWmJ0WZECr5Mpqh2msBQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:56:16.668887Z","signed_message":"canonical_sha256_bytes"},"source_id":"1811.09656","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ddcaa08f93ae026908e0d0f0c0f2b8300abdf3321d70bd44fe6111c3a9d38c4e","sha256:aac5128b5db9da9981e53af3b5e673cf951e3f5f8435dd0b0134303b2ca2d134"],"state_sha256":"1ccdb9c130194060479dd381eabbc26f27e32622c159139d9611bf1a958cb077"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IyG2eKZ+zFSpKlkic1upjKF8BF0lv1xugEMLae9oJ/ui07JkKGPXaG3QlOGaF4U5dxODIMM3+/m6yaD1bE+QBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-30T08:45:55.154810Z","bundle_sha256":"26a02b5974c7f73901ddace252c0abb7c4a671bf28d392a76d1e172653d93a80"}}