{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:DONAPSG5V6V5RVNWDDNUNEVNIB","short_pith_number":"pith:DONAPSG5","canonical_record":{"source":{"id":"2007.13486","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-07-27T12:33:55Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"53325c9856452af21f9ce854741e621785d944093da4dab2826d4f58c3434e12","abstract_canon_sha256":"fad677fa306e3355e08953c250d61d5ec749094f960bdb2a24d68898566d51f8"},"schema_version":"1.0"},"canonical_sha256":"1b9a07c8ddafabd8d5b618db4692ad405f659eee96629efad3d6eefc0d78cd47","source":{"kind":"arxiv","id":"2007.13486","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2007.13486","created_at":"2026-07-05T01:22:24Z"},{"alias_kind":"arxiv_version","alias_value":"2007.13486v1","created_at":"2026-07-05T01:22:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2007.13486","created_at":"2026-07-05T01:22:24Z"},{"alias_kind":"pith_short_12","alias_value":"DONAPSG5V6V5","created_at":"2026-07-05T01:22:24Z"},{"alias_kind":"pith_short_16","alias_value":"DONAPSG5V6V5RVNW","created_at":"2026-07-05T01:22:24Z"},{"alias_kind":"pith_short_8","alias_value":"DONAPSG5","created_at":"2026-07-05T01:22:24Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:DONAPSG5V6V5RVNWDDNUNEVNIB","target":"record","payload":{"canonical_record":{"source":{"id":"2007.13486","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-07-27T12:33:55Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"53325c9856452af21f9ce854741e621785d944093da4dab2826d4f58c3434e12","abstract_canon_sha256":"fad677fa306e3355e08953c250d61d5ec749094f960bdb2a24d68898566d51f8"},"schema_version":"1.0"},"canonical_sha256":"1b9a07c8ddafabd8d5b618db4692ad405f659eee96629efad3d6eefc0d78cd47","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:22:24.807789Z","signature_b64":"+y+wqWYAy7Mt2RkeMATq6utvVQZ0NN65x5Eayyux3jASwK6v3/lXxazdEp8akaJRGzkhUZWP5RENJxiDsU4iAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1b9a07c8ddafabd8d5b618db4692ad405f659eee96629efad3d6eefc0d78cd47","last_reissued_at":"2026-07-05T01:22:24.807284Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:22:24.807284Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2007.13486","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":"2026-07-05T01:22:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rV+erZ/iYFY3C31Vz9BwCnabRzLP6IxNWleOlwyDZvTDXsJWGspGIZW674gtvQKVylt2+Dd4n0mh8AowsDrNBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T14:23:51.090045Z"},"content_sha256":"ff07848bad2aefa39964832b1cddb75eae2f6e7dd9396ea2deb0af9c22550392","schema_version":"1.0","event_id":"sha256:ff07848bad2aefa39964832b1cddb75eae2f6e7dd9396ea2deb0af9c22550392"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:DONAPSG5V6V5RVNWDDNUNEVNIB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Complex Robotic Manipulation via Graph-Based Hindsight Goal Generation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Alois Knoll, Fabrice O. Morin, Kai Huang, Matthias Brucker, Zhenshan Bing","submitted_at":"2020-07-27T12:33:55Z","abstract_excerpt":"Reinforcement learning algorithms such as hindsight experience replay (HER) and hindsight goal generation (HGG) have been able to solve challenging robotic manipulation tasks in multi-goal settings with sparse rewards.\n  HER achieves its training success through hindsight replays of past experience with heuristic goals, but under-performs in challenging tasks in which goals are difficult to explore.\n  HGG enhances HER by selecting intermediate goals that are easy to achieve in the short term and promising to lead to target goals in the long term.\n  This guided exploration makes HGG applicable "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2007.13486","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/2007.13486/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":"2026-07-05T01:22:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"O4op+HXbebY27Y5JSMy2SgVJQqcSdzlN0NPulOFllULosuE+na7KtqxLU36IGbeYvTr9iFGOWI7S0qUDpwPKBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T14:23:51.090426Z"},"content_sha256":"7a38b5127ce688b14f9958a402b2c991373e8f8b041b3d55e184ee812311c655","schema_version":"1.0","event_id":"sha256:7a38b5127ce688b14f9958a402b2c991373e8f8b041b3d55e184ee812311c655"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DONAPSG5V6V5RVNWDDNUNEVNIB/bundle.json","state_url":"https://pith.science/pith/DONAPSG5V6V5RVNWDDNUNEVNIB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DONAPSG5V6V5RVNWDDNUNEVNIB/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":"2026-07-07T14:23:51Z","links":{"resolver":"https://pith.science/pith/DONAPSG5V6V5RVNWDDNUNEVNIB","bundle":"https://pith.science/pith/DONAPSG5V6V5RVNWDDNUNEVNIB/bundle.json","state":"https://pith.science/pith/DONAPSG5V6V5RVNWDDNUNEVNIB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DONAPSG5V6V5RVNWDDNUNEVNIB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:DONAPSG5V6V5RVNWDDNUNEVNIB","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":"fad677fa306e3355e08953c250d61d5ec749094f960bdb2a24d68898566d51f8","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-07-27T12:33:55Z","title_canon_sha256":"53325c9856452af21f9ce854741e621785d944093da4dab2826d4f58c3434e12"},"schema_version":"1.0","source":{"id":"2007.13486","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2007.13486","created_at":"2026-07-05T01:22:24Z"},{"alias_kind":"arxiv_version","alias_value":"2007.13486v1","created_at":"2026-07-05T01:22:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2007.13486","created_at":"2026-07-05T01:22:24Z"},{"alias_kind":"pith_short_12","alias_value":"DONAPSG5V6V5","created_at":"2026-07-05T01:22:24Z"},{"alias_kind":"pith_short_16","alias_value":"DONAPSG5V6V5RVNW","created_at":"2026-07-05T01:22:24Z"},{"alias_kind":"pith_short_8","alias_value":"DONAPSG5","created_at":"2026-07-05T01:22:24Z"}],"graph_snapshots":[{"event_id":"sha256:7a38b5127ce688b14f9958a402b2c991373e8f8b041b3d55e184ee812311c655","target":"graph","created_at":"2026-07-05T01:22:24Z","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/2007.13486/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Reinforcement learning algorithms such as hindsight experience replay (HER) and hindsight goal generation (HGG) have been able to solve challenging robotic manipulation tasks in multi-goal settings with sparse rewards.\n  HER achieves its training success through hindsight replays of past experience with heuristic goals, but under-performs in challenging tasks in which goals are difficult to explore.\n  HGG enhances HER by selecting intermediate goals that are easy to achieve in the short term and promising to lead to target goals in the long term.\n  This guided exploration makes HGG applicable ","authors_text":"Alois Knoll, Fabrice O. Morin, Kai Huang, Matthias Brucker, Zhenshan Bing","cross_cats":["cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-07-27T12:33:55Z","title":"Complex Robotic Manipulation via Graph-Based Hindsight Goal Generation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2007.13486","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:ff07848bad2aefa39964832b1cddb75eae2f6e7dd9396ea2deb0af9c22550392","target":"record","created_at":"2026-07-05T01:22:24Z","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":"fad677fa306e3355e08953c250d61d5ec749094f960bdb2a24d68898566d51f8","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-07-27T12:33:55Z","title_canon_sha256":"53325c9856452af21f9ce854741e621785d944093da4dab2826d4f58c3434e12"},"schema_version":"1.0","source":{"id":"2007.13486","kind":"arxiv","version":1}},"canonical_sha256":"1b9a07c8ddafabd8d5b618db4692ad405f659eee96629efad3d6eefc0d78cd47","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1b9a07c8ddafabd8d5b618db4692ad405f659eee96629efad3d6eefc0d78cd47","first_computed_at":"2026-07-05T01:22:24.807284Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:22:24.807284Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"+y+wqWYAy7Mt2RkeMATq6utvVQZ0NN65x5Eayyux3jASwK6v3/lXxazdEp8akaJRGzkhUZWP5RENJxiDsU4iAw==","signature_status":"signed_v1","signed_at":"2026-07-05T01:22:24.807789Z","signed_message":"canonical_sha256_bytes"},"source_id":"2007.13486","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ff07848bad2aefa39964832b1cddb75eae2f6e7dd9396ea2deb0af9c22550392","sha256:7a38b5127ce688b14f9958a402b2c991373e8f8b041b3d55e184ee812311c655"],"state_sha256":"118e487e7de235dcf51140a331f78662e6c70eab977b49957b65b32e8feca7c3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Mk46qyeCPjy4Th1XUwtLaO2/8wEqp7xG9mQDcOBrZUvESn34PzDhTcui7pcDbYjRa07LIuxF6js3JAmQ5FpfDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T14:23:51.092769Z","bundle_sha256":"cf20c7d5772c5cfd294d4a717b5a3c806c782f46714847d5d8a12cc2b52d086b"}}