{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:7DELWPNZJA5PEL7C6GGWURTUUT","short_pith_number":"pith:7DELWPNZ","canonical_record":{"source":{"id":"2505.21916","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-28T03:03:38Z","cross_cats_sorted":[],"title_canon_sha256":"b92d5ed62cf83fb35e8e0b00f14f1725159d1c1186ba611608a44fe113fa8cd4","abstract_canon_sha256":"72636632ae1b38e474eea395173eb0e05e7d3bf6d0a0e3b2085636b6aff13342"},"schema_version":"1.0"},"canonical_sha256":"f8c8bb3db9483af22fe2f18d6a4674a4e2737f1e5225a075e2e353df092709da","source":{"kind":"arxiv","id":"2505.21916","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.21916","created_at":"2026-06-24T01:14:20Z"},{"alias_kind":"arxiv_version","alias_value":"2505.21916v3","created_at":"2026-06-24T01:14:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.21916","created_at":"2026-06-24T01:14:20Z"},{"alias_kind":"pith_short_12","alias_value":"7DELWPNZJA5P","created_at":"2026-06-24T01:14:20Z"},{"alias_kind":"pith_short_16","alias_value":"7DELWPNZJA5PEL7C","created_at":"2026-06-24T01:14:20Z"},{"alias_kind":"pith_short_8","alias_value":"7DELWPNZ","created_at":"2026-06-24T01:14:20Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:7DELWPNZJA5PEL7C6GGWURTUUT","target":"record","payload":{"canonical_record":{"source":{"id":"2505.21916","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-28T03:03:38Z","cross_cats_sorted":[],"title_canon_sha256":"b92d5ed62cf83fb35e8e0b00f14f1725159d1c1186ba611608a44fe113fa8cd4","abstract_canon_sha256":"72636632ae1b38e474eea395173eb0e05e7d3bf6d0a0e3b2085636b6aff13342"},"schema_version":"1.0"},"canonical_sha256":"f8c8bb3db9483af22fe2f18d6a4674a4e2737f1e5225a075e2e353df092709da","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-24T01:14:20.563636Z","signature_b64":"boj+nyInwcstbyoCNgtfRPx6qobXblU6vKwTbT2+Dq0KQoUVziG+r339xb1XMOI326XQ0eaP9tC7jKhtA8W9Bg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f8c8bb3db9483af22fe2f18d6a4674a4e2737f1e5225a075e2e353df092709da","last_reissued_at":"2026-06-24T01:14:20.563098Z","signature_status":"signed_v1","first_computed_at":"2026-06-24T01:14:20.563098Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2505.21916","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-24T01:14:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mpDOAN11ymy1yZXPNgKoX32WAWEX6cJ0YR59LvdTlvP7UMIWeieqQmYSQ0n4UoHjUiRye4YvwL22PuhQq1pFAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T10:29:13.299229Z"},"content_sha256":"99a25deb660ae4390a2fb4ee7d02254a77387ef0337f26510fb02f88ea476afc","schema_version":"1.0","event_id":"sha256:99a25deb660ae4390a2fb4ee7d02254a77387ef0337f26510fb02f88ea476afc"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:7DELWPNZJA5PEL7C6GGWURTUUT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Prior Reinforce: Goal-Conditioned Dynamic Manipulation with Limited Trials","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Pingyue Sheng, Shengjie Wang, Yang Gao, Yihang Hu, Yuyang Liu","submitted_at":"2025-05-28T03:03:38Z","abstract_excerpt":"Embodied robots have achieved strong performance in many real-world manipulation tasks, yet agile dynamic manipulation remains challenging due to high sensitivity to motion parameters and sparse outcome-level feedback. Tasks such as shooting a basketball into a hoop require precise control of fast open-loop motions, where small trajectory variations can lead to large outcome deviations, making data-efficient adaptation difficult for existing methods that rely on large-scale interaction, reward engineering, or accurate dynamic modeling. We propose Prior Reinforce (P.R.), a simple and practical "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.21916","kind":"arxiv","version":3},"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/2505.21916/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":"2026-06-24T01:14:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5LTPVrfHRvMIsUCd2KAJ1mGNC3b4LeDqTpJDGgKjac7YdsuO3yCvAWkfuyniOb4SPDY+2n7D7o2hjQLf4HcnAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T10:29:13.299754Z"},"content_sha256":"7c1d141c812037975d5740c27ee6176daa22c0b2e9fb821eabd1e837f627a15f","schema_version":"1.0","event_id":"sha256:7c1d141c812037975d5740c27ee6176daa22c0b2e9fb821eabd1e837f627a15f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7DELWPNZJA5PEL7C6GGWURTUUT/bundle.json","state_url":"https://pith.science/pith/7DELWPNZJA5PEL7C6GGWURTUUT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7DELWPNZJA5PEL7C6GGWURTUUT/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":"2026-08-09T10:29:13Z","links":{"resolver":"https://pith.science/pith/7DELWPNZJA5PEL7C6GGWURTUUT","bundle":"https://pith.science/pith/7DELWPNZJA5PEL7C6GGWURTUUT/bundle.json","state":"https://pith.science/pith/7DELWPNZJA5PEL7C6GGWURTUUT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7DELWPNZJA5PEL7C6GGWURTUUT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:7DELWPNZJA5PEL7C6GGWURTUUT","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":"72636632ae1b38e474eea395173eb0e05e7d3bf6d0a0e3b2085636b6aff13342","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-28T03:03:38Z","title_canon_sha256":"b92d5ed62cf83fb35e8e0b00f14f1725159d1c1186ba611608a44fe113fa8cd4"},"schema_version":"1.0","source":{"id":"2505.21916","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.21916","created_at":"2026-06-24T01:14:20Z"},{"alias_kind":"arxiv_version","alias_value":"2505.21916v3","created_at":"2026-06-24T01:14:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.21916","created_at":"2026-06-24T01:14:20Z"},{"alias_kind":"pith_short_12","alias_value":"7DELWPNZJA5P","created_at":"2026-06-24T01:14:20Z"},{"alias_kind":"pith_short_16","alias_value":"7DELWPNZJA5PEL7C","created_at":"2026-06-24T01:14:20Z"},{"alias_kind":"pith_short_8","alias_value":"7DELWPNZ","created_at":"2026-06-24T01:14:20Z"}],"graph_snapshots":[{"event_id":"sha256:7c1d141c812037975d5740c27ee6176daa22c0b2e9fb821eabd1e837f627a15f","target":"graph","created_at":"2026-06-24T01:14:20Z","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/2505.21916/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Embodied robots have achieved strong performance in many real-world manipulation tasks, yet agile dynamic manipulation remains challenging due to high sensitivity to motion parameters and sparse outcome-level feedback. Tasks such as shooting a basketball into a hoop require precise control of fast open-loop motions, where small trajectory variations can lead to large outcome deviations, making data-efficient adaptation difficult for existing methods that rely on large-scale interaction, reward engineering, or accurate dynamic modeling. We propose Prior Reinforce (P.R.), a simple and practical ","authors_text":"Pingyue Sheng, Shengjie Wang, Yang Gao, Yihang Hu, Yuyang Liu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-28T03:03:38Z","title":"Prior Reinforce: Goal-Conditioned Dynamic Manipulation with Limited Trials"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.21916","kind":"arxiv","version":3},"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":"sha256:99a25deb660ae4390a2fb4ee7d02254a77387ef0337f26510fb02f88ea476afc","target":"record","created_at":"2026-06-24T01:14:20Z","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":"72636632ae1b38e474eea395173eb0e05e7d3bf6d0a0e3b2085636b6aff13342","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-28T03:03:38Z","title_canon_sha256":"b92d5ed62cf83fb35e8e0b00f14f1725159d1c1186ba611608a44fe113fa8cd4"},"schema_version":"1.0","source":{"id":"2505.21916","kind":"arxiv","version":3}},"canonical_sha256":"f8c8bb3db9483af22fe2f18d6a4674a4e2737f1e5225a075e2e353df092709da","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f8c8bb3db9483af22fe2f18d6a4674a4e2737f1e5225a075e2e353df092709da","first_computed_at":"2026-06-24T01:14:20.563098Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-24T01:14:20.563098Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"boj+nyInwcstbyoCNgtfRPx6qobXblU6vKwTbT2+Dq0KQoUVziG+r339xb1XMOI326XQ0eaP9tC7jKhtA8W9Bg==","signature_status":"signed_v1","signed_at":"2026-06-24T01:14:20.563636Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.21916","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:99a25deb660ae4390a2fb4ee7d02254a77387ef0337f26510fb02f88ea476afc","sha256:7c1d141c812037975d5740c27ee6176daa22c0b2e9fb821eabd1e837f627a15f"],"state_sha256":"4811945e49226734d25e05bc9dd69ed1cae42f4e060b10cee09354e87a5bc25d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hpi8j2aB3saVr7b05utA8MBMmV6Fu4rGuAYbIayVjun8wSOis19YNaPjwi05eV6vfrMvxNJtG96rBnqKl/UPBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T10:29:13.303502Z","bundle_sha256":"fd2adc4a2f97ffc3fcbc7354ae7a3dbb890f863274dd744d32ddc7bf66eee149"}}