{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:FQDVRCD6L5FE7XLRMVZF6M74RQ","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":"763f638d5d231b9d204e512d12f448865bdc09178a83c639a8c0d88cae24073c","cross_cats_sorted":["cs.AI","cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-22T16:20:17Z","title_canon_sha256":"d1edb80774ccaa649e931229e9eefb73ec7e7a57e21e02bf9a0e2733eba156b5"},"schema_version":"1.0","source":{"id":"2209.11133","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.11133","created_at":"2026-07-05T05:00:27Z"},{"alias_kind":"arxiv_version","alias_value":"2209.11133v2","created_at":"2026-07-05T05:00:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.11133","created_at":"2026-07-05T05:00:27Z"},{"alias_kind":"pith_short_12","alias_value":"FQDVRCD6L5FE","created_at":"2026-07-05T05:00:27Z"},{"alias_kind":"pith_short_16","alias_value":"FQDVRCD6L5FE7XLR","created_at":"2026-07-05T05:00:27Z"},{"alias_kind":"pith_short_8","alias_value":"FQDVRCD6","created_at":"2026-07-05T05:00:27Z"}],"graph_snapshots":[{"event_id":"sha256:0baf6721958ac503b341f7a9e88c38a2ab7dfdba65b2eeba265c17b7a4c13a4f","target":"graph","created_at":"2026-07-05T05:00:27Z","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/2209.11133/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robotics has long been a field riddled with complex systems architectures whose modules and connections, whether traditional or learning-based, require significant human expertise and prior knowledge. Inspired by large pre-trained language models, this work introduces a paradigm for pre-training a general purpose representation that can serve as a starting point for multiple tasks on a given robot. We present the Perception-Action Causal Transformer (PACT), a generative transformer-based architecture that aims to build representations directly from robot data in a self-supervised fashion. Thro","authors_text":"Ashish Kapoor, Felipe Frujeri, Rogerio Bonatti, Sai Vemprala, Shuang Ma, Shuhang Chen","cross_cats":["cs.AI","cs.CV","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-22T16:20:17Z","title":"PACT: Perception-Action Causal Transformer for Autoregressive Robotics Pre-Training"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.11133","kind":"arxiv","version":2},"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":"sha256:83e22d0a05a13d8a4f916d9acd97b678d82320f91d54bfee311823c809d7d438","target":"record","created_at":"2026-07-05T05:00:27Z","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":"763f638d5d231b9d204e512d12f448865bdc09178a83c639a8c0d88cae24073c","cross_cats_sorted":["cs.AI","cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-22T16:20:17Z","title_canon_sha256":"d1edb80774ccaa649e931229e9eefb73ec7e7a57e21e02bf9a0e2733eba156b5"},"schema_version":"1.0","source":{"id":"2209.11133","kind":"arxiv","version":2}},"canonical_sha256":"2c0758887e5f4a4fdd7165725f33fc8c0bd018b35507d07822dfa0038538cb32","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2c0758887e5f4a4fdd7165725f33fc8c0bd018b35507d07822dfa0038538cb32","first_computed_at":"2026-07-05T05:00:27.669817Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:00:27.669817Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"s/LNIg3oLiDQfqxsk6axDzZDSFbKFWkD89/bez6yf7J+lSVHvSPW2LLVznFVmU+Z5y0cJ658TyFt/5JSZwL0AQ==","signature_status":"signed_v1","signed_at":"2026-07-05T05:00:27.670306Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.11133","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:83e22d0a05a13d8a4f916d9acd97b678d82320f91d54bfee311823c809d7d438","sha256:0baf6721958ac503b341f7a9e88c38a2ab7dfdba65b2eeba265c17b7a4c13a4f"],"state_sha256":"5f15874c0bdb3f2c9b98432ed24cc7a12616afb4b699eabba65cdd550d1fe1cc"}