{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:DNSAAVEK3MPHM3N4QHGDZWAS6I","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":"dc0e770d80fefa1847743cf377bee544e5acd7a83b83c3e1b53648756a883ae1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-10T21:32:43Z","title_canon_sha256":"023addea0f9e5e85c8d1a2ee02c6c6d98a2ceed7545ef9fab80e82eccdd8ddf3"},"schema_version":"1.0","source":{"id":"2407.08057","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.08057","created_at":"2026-07-05T08:42:42Z"},{"alias_kind":"arxiv_version","alias_value":"2407.08057v1","created_at":"2026-07-05T08:42:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.08057","created_at":"2026-07-05T08:42:42Z"},{"alias_kind":"pith_short_12","alias_value":"DNSAAVEK3MPH","created_at":"2026-07-05T08:42:42Z"},{"alias_kind":"pith_short_16","alias_value":"DNSAAVEK3MPHM3N4","created_at":"2026-07-05T08:42:42Z"},{"alias_kind":"pith_short_8","alias_value":"DNSAAVEK","created_at":"2026-07-05T08:42:42Z"}],"graph_snapshots":[{"event_id":"sha256:dbd1c61289b2e27d89d7929cc9a422d8766bb8bafa8bed6926dac690df181523","target":"graph","created_at":"2026-07-05T08:42:42Z","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/2407.08057/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Imitation learning is one of the methods for reproducing human demonstration adaptively in robots. So far, it has been found that generalization ability of the imitation learning enables the robots to perform tasks adaptably in untrained environments. However, motion styles such as motion trajectory and the amount of force applied depend largely on the dataset of human demonstration, and settle down to an average motion style. In this study, we propose a method that adds parametric bias to the conventional imitation learning network and can add constraints to the motion style. By experiments u","authors_text":"Kei Okada, Kento Kawaharazuka, Masayuki Inaba, Yoichiro Kawamura","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-10T21:32:43Z","title":"Imitation Learning with Additional Constraints on Motion Style using Parametric Bias"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.08057","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":"sha256:1a6a30ea31c0cc526495992898c9f366e6a55f65957f743ef73a0a3d369e29c7","target":"record","created_at":"2026-07-05T08:42:42Z","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":"dc0e770d80fefa1847743cf377bee544e5acd7a83b83c3e1b53648756a883ae1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-10T21:32:43Z","title_canon_sha256":"023addea0f9e5e85c8d1a2ee02c6c6d98a2ceed7545ef9fab80e82eccdd8ddf3"},"schema_version":"1.0","source":{"id":"2407.08057","kind":"arxiv","version":1}},"canonical_sha256":"1b6400548adb1e766dbc81cc3cd812f2277ed0b9d10724b6e055cba974cd973b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1b6400548adb1e766dbc81cc3cd812f2277ed0b9d10724b6e055cba974cd973b","first_computed_at":"2026-07-05T08:42:42.585556Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:42:42.585556Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Lwv+aRvCqGle7V4n3hUf+/iAzmM2acHSBsBO2rvZSF2W+Hab4awYRRQzk8mMYMRyCTuMGBwUQIIcdioc9GsVCw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:42:42.585974Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.08057","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1a6a30ea31c0cc526495992898c9f366e6a55f65957f743ef73a0a3d369e29c7","sha256:dbd1c61289b2e27d89d7929cc9a422d8766bb8bafa8bed6926dac690df181523"],"state_sha256":"1477c7839174d83121f048c70157aec74248965cec85ae5c1ea33d37f5f3f44a"}