{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:E5DOUEP774FSYS7LDGAFWNAEHR","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":"5b9112d64ed27c42f4d9da09e8a09ffded4b3f62506697acf76ceccb4fca1a6c","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-08-10T10:18:04Z","title_canon_sha256":"40d89ae2d8b54428ed393075550ced437be29352cf26def663ad672597f3904d"},"schema_version":"1.0","source":{"id":"2008.04007","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2008.04007","created_at":"2026-07-05T01:25:58Z"},{"alias_kind":"arxiv_version","alias_value":"2008.04007v1","created_at":"2026-07-05T01:25:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2008.04007","created_at":"2026-07-05T01:25:58Z"},{"alias_kind":"pith_short_12","alias_value":"E5DOUEP774FS","created_at":"2026-07-05T01:25:58Z"},{"alias_kind":"pith_short_16","alias_value":"E5DOUEP774FSYS7L","created_at":"2026-07-05T01:25:58Z"},{"alias_kind":"pith_short_8","alias_value":"E5DOUEP7","created_at":"2026-07-05T01:25:58Z"}],"graph_snapshots":[{"event_id":"sha256:e8d8e475c26dcb3953fbb9f962d2e4751701fefd643be7a174f2b5cf0396b0a5","target":"graph","created_at":"2026-07-05T01:25:58Z","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/2008.04007/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This work adds on to the on-going efforts to provide more autonomy to space robots. Here the concept of programming by demonstration or imitation learning is used for trajectory planning of manipulators mounted on small spacecraft. For greater autonomy in future space missions and minimal human intervention through ground control, a robot arm having 7-Degrees of Freedom (DoF) is envisaged for carrying out multiple tasks like debris removal, on-orbit servicing and assembly. Since actual hardware implementation of microgravity environment is extremely expensive, the demonstration data for trajec","authors_text":"Gerhard Neumann, RB Ashith Shyam, Umberto Montanaro, Zhou Hao","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-08-10T10:18:04Z","title":"Imitation Learning for Autonomous Trajectory Learning of Robot Arms in Space"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2008.04007","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":"sha256:62a21f341d3878b4f853c9573d28ea29244f1600ad3c7814bbfc07835fac4186","target":"record","created_at":"2026-07-05T01:25:58Z","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":"5b9112d64ed27c42f4d9da09e8a09ffded4b3f62506697acf76ceccb4fca1a6c","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-08-10T10:18:04Z","title_canon_sha256":"40d89ae2d8b54428ed393075550ced437be29352cf26def663ad672597f3904d"},"schema_version":"1.0","source":{"id":"2008.04007","kind":"arxiv","version":1}},"canonical_sha256":"2746ea11ffff0b2c4beb19805b34043c41910fcab244cc076c302aea5e086e89","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2746ea11ffff0b2c4beb19805b34043c41910fcab244cc076c302aea5e086e89","first_computed_at":"2026-07-05T01:25:58.914850Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:25:58.914850Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3fqghDd0c4GUMk5afZ1xDrMAD1pCglGAlGmNSi18wm+vAbEmZNA0hOoBKSnkEs6D3C1X5CIoGXLwD5mRjSJOAg==","signature_status":"signed_v1","signed_at":"2026-07-05T01:25:58.915309Z","signed_message":"canonical_sha256_bytes"},"source_id":"2008.04007","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:62a21f341d3878b4f853c9573d28ea29244f1600ad3c7814bbfc07835fac4186","sha256:e8d8e475c26dcb3953fbb9f962d2e4751701fefd643be7a174f2b5cf0396b0a5"],"state_sha256":"21a01be46f243bfe1e33d6f66c6b5a07d59415570e375b412fb4d3893bdd7401"}