{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:BBRXS4ZNXCNOZNEIJ35HSMTGRG","short_pith_number":"pith:BBRXS4ZN","canonical_record":{"source":{"id":"2607.08354","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-09T11:02:35Z","cross_cats_sorted":[],"title_canon_sha256":"c0ad6d8c315af80e17fd922123744f37937fb7b4febf7cc1eab682af3ad1544a","abstract_canon_sha256":"417767453432c55619a311de81f86115b24a15a66f05be96bee718ff2b09880a"},"schema_version":"1.0"},"canonical_sha256":"086379732db89aecb4884efa7932668986e3bb34addf81361c0d56db9111bf3d","source":{"kind":"arxiv","id":"2607.08354","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.08354","created_at":"2026-07-10T01:19:47Z"},{"alias_kind":"arxiv_version","alias_value":"2607.08354v1","created_at":"2026-07-10T01:19:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.08354","created_at":"2026-07-10T01:19:47Z"},{"alias_kind":"pith_short_12","alias_value":"BBRXS4ZNXCNO","created_at":"2026-07-10T01:19:47Z"},{"alias_kind":"pith_short_16","alias_value":"BBRXS4ZNXCNOZNEI","created_at":"2026-07-10T01:19:47Z"},{"alias_kind":"pith_short_8","alias_value":"BBRXS4ZN","created_at":"2026-07-10T01:19:47Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:BBRXS4ZNXCNOZNEIJ35HSMTGRG","target":"record","payload":{"canonical_record":{"source":{"id":"2607.08354","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-09T11:02:35Z","cross_cats_sorted":[],"title_canon_sha256":"c0ad6d8c315af80e17fd922123744f37937fb7b4febf7cc1eab682af3ad1544a","abstract_canon_sha256":"417767453432c55619a311de81f86115b24a15a66f05be96bee718ff2b09880a"},"schema_version":"1.0"},"canonical_sha256":"086379732db89aecb4884efa7932668986e3bb34addf81361c0d56db9111bf3d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-10T01:19:47.935673Z","signature_b64":"32de1dXylKjT3a1Qu1VdpheEqnIrweFAh8Yg3HQhVcjrB7lHtk7YjjBFFOhMJojPHDANVey476+My2AOStDZDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"086379732db89aecb4884efa7932668986e3bb34addf81361c0d56db9111bf3d","last_reissued_at":"2026-07-10T01:19:47.935264Z","signature_status":"signed_v1","first_computed_at":"2026-07-10T01:19:47.935264Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.08354","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":"2026-07-10T01:19:47Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"my0L+IlGecefIb0usS8ne4cLafp7shGteaZJqIc2r9DvZbPAUYjGNttLU0/9IZdmbAqI9rpqcFRXFAiOacOIDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T06:54:04.060462Z"},"content_sha256":"b79c98f4f90f828e34ee20e9a60a90ef8fdfdbecbc37d7efbcd72353bc042757","schema_version":"1.0","event_id":"sha256:b79c98f4f90f828e34ee20e9a60a90ef8fdfdbecbc37d7efbcd72353bc042757"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:BBRXS4ZNXCNOZNEIJ35HSMTGRG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SkillPlug: Unsupervised Skill Mining for Few-Shot Adaptation in Robotic Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Zi-Han Ding, Ziwei Wang","submitted_at":"2026-07-09T11:02:35Z","abstract_excerpt":"Learning transferable visuomotor imitation policies that generalize across diverse manipulation tasks and adapt rapidly to new tasks from only a handful of demonstrations remains challenging. Most modern policies are trained end-to-end to map observations directly to low-level actions, offering little explicit structure for reusing and recombining behaviors across tasks and making transfer data-inefficient under limited supervision. We propose SkillPlug, a plug-in framework that augments an existing visuomotor policy with a skill-conditioning module and mines a shared, transferable skill libra"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.08354","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/2607.08354/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":"2026-07-10T01:19:47Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sc+U6XnyMTWo7y4KL7qxS7DNHuDWzbi6qiQzlmxvxV8LI3Wjh0/rciVfGUb/AHHuKtTGYk6c9rjQcFbcf1OnDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T06:54:04.060975Z"},"content_sha256":"bdc0b5722c2228287c5da959a2baf05b4ea9878ef0e254759974aeecded666d7","schema_version":"1.0","event_id":"sha256:bdc0b5722c2228287c5da959a2baf05b4ea9878ef0e254759974aeecded666d7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BBRXS4ZNXCNOZNEIJ35HSMTGRG/bundle.json","state_url":"https://pith.science/pith/BBRXS4ZNXCNOZNEIJ35HSMTGRG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BBRXS4ZNXCNOZNEIJ35HSMTGRG/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":"2026-08-14T06:54:04Z","links":{"resolver":"https://pith.science/pith/BBRXS4ZNXCNOZNEIJ35HSMTGRG","bundle":"https://pith.science/pith/BBRXS4ZNXCNOZNEIJ35HSMTGRG/bundle.json","state":"https://pith.science/pith/BBRXS4ZNXCNOZNEIJ35HSMTGRG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BBRXS4ZNXCNOZNEIJ35HSMTGRG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:BBRXS4ZNXCNOZNEIJ35HSMTGRG","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":"417767453432c55619a311de81f86115b24a15a66f05be96bee718ff2b09880a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-09T11:02:35Z","title_canon_sha256":"c0ad6d8c315af80e17fd922123744f37937fb7b4febf7cc1eab682af3ad1544a"},"schema_version":"1.0","source":{"id":"2607.08354","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.08354","created_at":"2026-07-10T01:19:47Z"},{"alias_kind":"arxiv_version","alias_value":"2607.08354v1","created_at":"2026-07-10T01:19:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.08354","created_at":"2026-07-10T01:19:47Z"},{"alias_kind":"pith_short_12","alias_value":"BBRXS4ZNXCNO","created_at":"2026-07-10T01:19:47Z"},{"alias_kind":"pith_short_16","alias_value":"BBRXS4ZNXCNOZNEI","created_at":"2026-07-10T01:19:47Z"},{"alias_kind":"pith_short_8","alias_value":"BBRXS4ZN","created_at":"2026-07-10T01:19:47Z"}],"graph_snapshots":[{"event_id":"sha256:bdc0b5722c2228287c5da959a2baf05b4ea9878ef0e254759974aeecded666d7","target":"graph","created_at":"2026-07-10T01:19:47Z","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":[],"endpoint":"/pith/2607.08354/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Learning transferable visuomotor imitation policies that generalize across diverse manipulation tasks and adapt rapidly to new tasks from only a handful of demonstrations remains challenging. Most modern policies are trained end-to-end to map observations directly to low-level actions, offering little explicit structure for reusing and recombining behaviors across tasks and making transfer data-inefficient under limited supervision. We propose SkillPlug, a plug-in framework that augments an existing visuomotor policy with a skill-conditioning module and mines a shared, transferable skill libra","authors_text":"Zi-Han Ding, Ziwei Wang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-09T11:02:35Z","title":"SkillPlug: Unsupervised Skill Mining for Few-Shot Adaptation in Robotic Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.08354","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:b79c98f4f90f828e34ee20e9a60a90ef8fdfdbecbc37d7efbcd72353bc042757","target":"record","created_at":"2026-07-10T01:19:47Z","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":"417767453432c55619a311de81f86115b24a15a66f05be96bee718ff2b09880a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-09T11:02:35Z","title_canon_sha256":"c0ad6d8c315af80e17fd922123744f37937fb7b4febf7cc1eab682af3ad1544a"},"schema_version":"1.0","source":{"id":"2607.08354","kind":"arxiv","version":1}},"canonical_sha256":"086379732db89aecb4884efa7932668986e3bb34addf81361c0d56db9111bf3d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"086379732db89aecb4884efa7932668986e3bb34addf81361c0d56db9111bf3d","first_computed_at":"2026-07-10T01:19:47.935264Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-10T01:19:47.935264Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"32de1dXylKjT3a1Qu1VdpheEqnIrweFAh8Yg3HQhVcjrB7lHtk7YjjBFFOhMJojPHDANVey476+My2AOStDZDA==","signature_status":"signed_v1","signed_at":"2026-07-10T01:19:47.935673Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.08354","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b79c98f4f90f828e34ee20e9a60a90ef8fdfdbecbc37d7efbcd72353bc042757","sha256:bdc0b5722c2228287c5da959a2baf05b4ea9878ef0e254759974aeecded666d7"],"state_sha256":"5f09c9219d0274ebcf4b3a1a7a4e8b3367b61ec6974f81edbaa45c78029de2b3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"yLRUJUgwEgykzNqIkjqsDGOyLU+fzWIXoIxWd6JKXtmjSXb8QIX+SRcbTui/RYQLhxThds1sKbYrokmJfFIJBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-14T06:54:04.067673Z","bundle_sha256":"dbc250a2c0fe1d0e19a31219051affc768680ba30a5501249bc25aef7f7704bc"}}