{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:FTOVYZGVNJQQEHYJY2TNGYZJN7","short_pith_number":"pith:FTOVYZGV","canonical_record":{"source":{"id":"2506.11948","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-13T16:58:20Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"9b8e0a77dce2b33daf5eec727c753e6937037062da0b0e879eb253c1af9188d3","abstract_canon_sha256":"1ba4448ecd83d493323640223f9f52a228ca5c00cc0ffb4277464d8fbb3f20f2"},"schema_version":"1.0"},"canonical_sha256":"2cdd5c64d56a61021f09c6a6d363296fc451a16cc799e9d6ee8cd8e390df9122","source":{"kind":"arxiv","id":"2506.11948","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.11948","created_at":"2026-07-05T12:06:14Z"},{"alias_kind":"arxiv_version","alias_value":"2506.11948v2","created_at":"2026-07-05T12:06:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.11948","created_at":"2026-07-05T12:06:14Z"},{"alias_kind":"pith_short_12","alias_value":"FTOVYZGVNJQQ","created_at":"2026-07-05T12:06:14Z"},{"alias_kind":"pith_short_16","alias_value":"FTOVYZGVNJQQEHYJ","created_at":"2026-07-05T12:06:14Z"},{"alias_kind":"pith_short_8","alias_value":"FTOVYZGV","created_at":"2026-07-05T12:06:14Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:FTOVYZGVNJQQEHYJY2TNGYZJN7","target":"record","payload":{"canonical_record":{"source":{"id":"2506.11948","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-13T16:58:20Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"9b8e0a77dce2b33daf5eec727c753e6937037062da0b0e879eb253c1af9188d3","abstract_canon_sha256":"1ba4448ecd83d493323640223f9f52a228ca5c00cc0ffb4277464d8fbb3f20f2"},"schema_version":"1.0"},"canonical_sha256":"2cdd5c64d56a61021f09c6a6d363296fc451a16cc799e9d6ee8cd8e390df9122","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T12:06:14.932040Z","signature_b64":"CV72ABb7PZcXBMMyC8xMaThqpsbZRhi5J62wAvbP2H6CmLkkuUWp7v+TA+FEW6DQ6mlHKDNjNvpXU+xkxJhJDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2cdd5c64d56a61021f09c6a6d363296fc451a16cc799e9d6ee8cd8e390df9122","last_reissued_at":"2026-07-05T12:06:14.931549Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T12:06:14.931549Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2506.11948","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T12:06:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DXjiInpOuUJvv17kuRmckQbwGONyIGeZAxuNJ+vRrO4kwIFrsD1eKRGLywBAd6KkTBRKmBsbnclfZrx9wwNmDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T07:14:29.845899Z"},"content_sha256":"1ec139dacb3456cc7a94e4d8fea26be9f0b2e633014e98987b5ddd6084db20fe","schema_version":"1.0","event_id":"sha256:1ec139dacb3456cc7a94e4d8fea26be9f0b2e633014e98987b5ddd6084db20fe"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:FTOVYZGVNJQQEHYJY2TNGYZJN7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Benjamin Joffe, Danfei Xu, Nadun Ranawaka Arachchige, Pierre Barroso, Rohan Bansal, Shreyas Kousik, Wonsuhk Jung, Woo Chul Shin, Yingyang Celine Lin, Yu Hang He, Zhenyang Chen","submitted_at":"2025-06-13T16:58:20Z","abstract_excerpt":"Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined to executing the task at the same speed as shown in demonstration data. This limits the task throughput of a robotic system, a critical requirement for applications such as industrial automation. In this paper, we introduce and formalize the novel problem of enabling faster-than-demonstration execution of visuomotor policies and identify fundamental challenges in robot dynamics and state-action distribution shifts. W"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.11948","kind":"arxiv","version":2},"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/2506.11948/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":"2026-07-05T12:06:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Jzo77wBod1G/mW2hezSZMRA+mjIMkeFbfjlcNAFKa7aCYKsq/cG4n7BznkCeyivv7fUiwkAusnDNEwTczxdRDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T07:14:29.847714Z"},"content_sha256":"895a5d0f0e8aa81ac64f849ff91487f290a85e516f638bb774e17a78a77842c3","schema_version":"1.0","event_id":"sha256:895a5d0f0e8aa81ac64f849ff91487f290a85e516f638bb774e17a78a77842c3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FTOVYZGVNJQQEHYJY2TNGYZJN7/bundle.json","state_url":"https://pith.science/pith/FTOVYZGVNJQQEHYJY2TNGYZJN7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FTOVYZGVNJQQEHYJY2TNGYZJN7/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":"2026-08-17T07:14:29Z","links":{"resolver":"https://pith.science/pith/FTOVYZGVNJQQEHYJY2TNGYZJN7","bundle":"https://pith.science/pith/FTOVYZGVNJQQEHYJY2TNGYZJN7/bundle.json","state":"https://pith.science/pith/FTOVYZGVNJQQEHYJY2TNGYZJN7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FTOVYZGVNJQQEHYJY2TNGYZJN7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:FTOVYZGVNJQQEHYJY2TNGYZJN7","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":"1ba4448ecd83d493323640223f9f52a228ca5c00cc0ffb4277464d8fbb3f20f2","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-13T16:58:20Z","title_canon_sha256":"9b8e0a77dce2b33daf5eec727c753e6937037062da0b0e879eb253c1af9188d3"},"schema_version":"1.0","source":{"id":"2506.11948","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.11948","created_at":"2026-07-05T12:06:14Z"},{"alias_kind":"arxiv_version","alias_value":"2506.11948v2","created_at":"2026-07-05T12:06:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.11948","created_at":"2026-07-05T12:06:14Z"},{"alias_kind":"pith_short_12","alias_value":"FTOVYZGVNJQQ","created_at":"2026-07-05T12:06:14Z"},{"alias_kind":"pith_short_16","alias_value":"FTOVYZGVNJQQEHYJ","created_at":"2026-07-05T12:06:14Z"},{"alias_kind":"pith_short_8","alias_value":"FTOVYZGV","created_at":"2026-07-05T12:06:14Z"}],"graph_snapshots":[{"event_id":"sha256:895a5d0f0e8aa81ac64f849ff91487f290a85e516f638bb774e17a78a77842c3","target":"graph","created_at":"2026-07-05T12:06:14Z","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/2506.11948/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined to executing the task at the same speed as shown in demonstration data. This limits the task throughput of a robotic system, a critical requirement for applications such as industrial automation. In this paper, we introduce and formalize the novel problem of enabling faster-than-demonstration execution of visuomotor policies and identify fundamental challenges in robot dynamics and state-action distribution shifts. W","authors_text":"Benjamin Joffe, Danfei Xu, Nadun Ranawaka Arachchige, Pierre Barroso, Rohan Bansal, Shreyas Kousik, Wonsuhk Jung, Woo Chul Shin, Yingyang Celine Lin, Yu Hang He, Zhenyang Chen","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-13T16:58:20Z","title":"SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.11948","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":"sha256:1ec139dacb3456cc7a94e4d8fea26be9f0b2e633014e98987b5ddd6084db20fe","target":"record","created_at":"2026-07-05T12:06:14Z","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":"1ba4448ecd83d493323640223f9f52a228ca5c00cc0ffb4277464d8fbb3f20f2","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-13T16:58:20Z","title_canon_sha256":"9b8e0a77dce2b33daf5eec727c753e6937037062da0b0e879eb253c1af9188d3"},"schema_version":"1.0","source":{"id":"2506.11948","kind":"arxiv","version":2}},"canonical_sha256":"2cdd5c64d56a61021f09c6a6d363296fc451a16cc799e9d6ee8cd8e390df9122","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2cdd5c64d56a61021f09c6a6d363296fc451a16cc799e9d6ee8cd8e390df9122","first_computed_at":"2026-07-05T12:06:14.931549Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:06:14.931549Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"CV72ABb7PZcXBMMyC8xMaThqpsbZRhi5J62wAvbP2H6CmLkkuUWp7v+TA+FEW6DQ6mlHKDNjNvpXU+xkxJhJDA==","signature_status":"signed_v1","signed_at":"2026-07-05T12:06:14.932040Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.11948","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1ec139dacb3456cc7a94e4d8fea26be9f0b2e633014e98987b5ddd6084db20fe","sha256:895a5d0f0e8aa81ac64f849ff91487f290a85e516f638bb774e17a78a77842c3"],"state_sha256":"bf3365c5d89277ff24d29fd4df833ee8963b14188c99fd9ac5a598ff7f18ad81"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nvFQ+xF1SvKGjI8hcJ4c97z2KqbR/XAXQzNp/ZF0mXMVWLcztbLNz909S0xzUXmCVp/jBOTcpPY5EETElWIRBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-17T07:14:29.858749Z","bundle_sha256":"f7c6978310bd75deed1c390e177afd27852b4edc6c8771991f5de9a1be9731f8"}}