{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:AUDQIDRCB5OV2QCMRYWNL7E6PV","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":"0d86dd40ab719b88ee208a204066965986be210c3203ec965842680600a294ab","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-17T18:58:03Z","title_canon_sha256":"4159334b27ce87dbe3226ce50a435b8ba3dd4380834ca9a3d743a2b1073a4bdd"},"schema_version":"1.0","source":{"id":"2605.17601","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.17601","created_at":"2026-05-20T00:04:47Z"},{"alias_kind":"arxiv_version","alias_value":"2605.17601v1","created_at":"2026-05-20T00:04:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.17601","created_at":"2026-05-20T00:04:47Z"},{"alias_kind":"pith_short_12","alias_value":"AUDQIDRCB5OV","created_at":"2026-05-20T00:04:47Z"},{"alias_kind":"pith_short_16","alias_value":"AUDQIDRCB5OV2QCM","created_at":"2026-05-20T00:04:47Z"},{"alias_kind":"pith_short_8","alias_value":"AUDQIDRC","created_at":"2026-05-20T00:04:47Z"}],"graph_snapshots":[{"event_id":"sha256:db03ee711cd6a79f0f37f1d82bc888fba27275dd6fecadcf0cc11642c5a475d6","target":"graph","created_at":"2026-05-20T00:04:47Z","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":[{"findings_count":0,"name":"ai_meta_artifact","ran_at":"2026-05-19T21:33:23.575054Z","status":"skipped","version":"1.0.0"},{"findings_count":0,"name":"claim_evidence","ran_at":"2026-05-19T21:21:57.504435Z","status":"completed","version":"1.0.0"}],"endpoint":"/pith/2605.17601/integrity.json","findings":[],"snapshot_sha256":"bbccfe59d1cfe6c52af7247158bd8f935ddf40d330e00fcad9f4ac907a33aa40","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present a Learning from Demonstration (LfD) framework that achieves one-shot generalization in multi-stage, contact-rich manipulation tasks. Central to our approach is the utilization of environmental constraints as the inductive bias. By representing a demonstration as a sequence of behaviors that exploit environmental constraints, the robot separates task-general structure -- the constraint types and their transitions -- from instance-specific details such as exact demonstration trajectories, poses, and local geometries. Our four-stage pipeline builds a complete policy on this representat","authors_text":"Oliver Brock, Xing Li","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-17T18:58:03Z","title":"From a Single Demonstration to a General Policy for Contact-Rich Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.17601","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":"sha256:8022683849a632aba0c08416dd363dd404a0bf194e1dcd7d7a26aa66b5555ef3","target":"record","created_at":"2026-05-20T00:04:47Z","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":"0d86dd40ab719b88ee208a204066965986be210c3203ec965842680600a294ab","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-17T18:58:03Z","title_canon_sha256":"4159334b27ce87dbe3226ce50a435b8ba3dd4380834ca9a3d743a2b1073a4bdd"},"schema_version":"1.0","source":{"id":"2605.17601","kind":"arxiv","version":1}},"canonical_sha256":"0507040e220f5d5d404c8e2cd5fc9e7d4de70420bf1f5b7ede5295d53e9976fd","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0507040e220f5d5d404c8e2cd5fc9e7d4de70420bf1f5b7ede5295d53e9976fd","first_computed_at":"2026-05-20T00:04:47.978236Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-20T00:04:47.978236Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"JzPTl3w/AQYaqjPhqONhRKdZ9stB3xqNvAZu8L8+uV2UUl7fgWDcjBFCrtOdzPEW1LtK6LYflmkZm8hvVOeDDg==","signature_status":"signed_v1","signed_at":"2026-05-20T00:04:47.979016Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.17601","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8022683849a632aba0c08416dd363dd404a0bf194e1dcd7d7a26aa66b5555ef3","sha256:db03ee711cd6a79f0f37f1d82bc888fba27275dd6fecadcf0cc11642c5a475d6"],"state_sha256":"f623513d6d5aad34597677c18447b57412480444f576e2ac615f7198864eee57"}