{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:GR3VT2DJBVNTJG7HYU6EWDNPAO","short_pith_number":"pith:GR3VT2DJ","canonical_record":{"source":{"id":"2605.23847","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T16:59:55Z","cross_cats_sorted":[],"title_canon_sha256":"67cc7e65c85e1647219e4530f6ffffd75c9fd121288b4b70d2f0dc840a8225a9","abstract_canon_sha256":"cdf57e1ae617a296a52a86057d05309a47315970426375f032daa838a3a0d86d"},"schema_version":"1.0"},"canonical_sha256":"347759e8690d5b349be7c53c4b0daf039c2250c88f969664b223a3409eca63c1","source":{"kind":"arxiv","id":"2605.23847","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.23847","created_at":"2026-05-25T02:02:35Z"},{"alias_kind":"arxiv_version","alias_value":"2605.23847v1","created_at":"2026-05-25T02:02:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.23847","created_at":"2026-05-25T02:02:35Z"},{"alias_kind":"pith_short_12","alias_value":"GR3VT2DJBVNT","created_at":"2026-05-25T02:02:35Z"},{"alias_kind":"pith_short_16","alias_value":"GR3VT2DJBVNTJG7H","created_at":"2026-05-25T02:02:35Z"},{"alias_kind":"pith_short_8","alias_value":"GR3VT2DJ","created_at":"2026-05-25T02:02:35Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:GR3VT2DJBVNTJG7HYU6EWDNPAO","target":"record","payload":{"canonical_record":{"source":{"id":"2605.23847","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T16:59:55Z","cross_cats_sorted":[],"title_canon_sha256":"67cc7e65c85e1647219e4530f6ffffd75c9fd121288b4b70d2f0dc840a8225a9","abstract_canon_sha256":"cdf57e1ae617a296a52a86057d05309a47315970426375f032daa838a3a0d86d"},"schema_version":"1.0"},"canonical_sha256":"347759e8690d5b349be7c53c4b0daf039c2250c88f969664b223a3409eca63c1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-25T02:02:35.812576Z","signature_b64":"h5ZWRjPyXrMkIiqtNluevQhtCX5mk7v5C5rfRQ9kQqGpfzSFoEgYyDdtLtrys5GtYEuD9FQNC0fgi2TnswgXDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"347759e8690d5b349be7c53c4b0daf039c2250c88f969664b223a3409eca63c1","last_reissued_at":"2026-05-25T02:02:35.811873Z","signature_status":"signed_v1","first_computed_at":"2026-05-25T02:02:35.811873Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.23847","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":"2026-05-25T02:02:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7ZqQBZ/RIT6ziBg52PTUzoFJPdDzG1RnpbuDkx5t87L2bERxVS3wMJRbyEg3Kp0vl5sR0sQ7g4/n5oM2uszVCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T15:07:01.012512Z"},"content_sha256":"0dba8cf160b944d5a0a2ccded6950ad12637d6570f07200f6979e637836376d2","schema_version":"1.0","event_id":"sha256:0dba8cf160b944d5a0a2ccded6950ad12637d6570f07200f6979e637836376d2"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:GR3VT2DJBVNTJG7HYU6EWDNPAO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Instrumentation for Imitation Learning: Enhancing Training Datasets for Clothes Hanger Insertion","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Francis wyffels, Remko Proesmans, Thomas Lips","submitted_at":"2026-05-22T16:59:55Z","abstract_excerpt":"Large behaviour models have transformed the field of robotic manipulation, but prohibitive data requirements have thus far prevented a revolution similar to vision language models. We believe that instrumentation, i.e. sensor integration in objects, can provide invaluable state information and enable efficient learning for robotic manipulation. In this paper, we present instrumented imitation learning of clothes hanger insertion. Using 180 teleoperated demonstrations, we train diffusion policies with and without access to instrumentation data. Results show that policies leveraging instrumentat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.23847","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/2605.23847/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":"2026-05-25T02:02:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"L4cvPHPi/ub6Bzb/k4lPpeaFbhh1xF3jEMQR1LpvdNYbPeKoDZwOicoAy4UWH5mxBfLNP/Sxbq2+FuCLmr7dBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T15:07:01.013362Z"},"content_sha256":"94edc4241cf85d40cb784336910da2fea8eef5b8346462e52eb9714693075720","schema_version":"1.0","event_id":"sha256:94edc4241cf85d40cb784336910da2fea8eef5b8346462e52eb9714693075720"},{"event_type":"integrity_finding","subject_pith_number":"pith:2026:GR3VT2DJBVNTJG7HYU6EWDNPAO","target":"integrity","payload":{"note":"URL 'https://arxiv.org/abs/2411' returned status 404 (Not Found) at last check.","snippet":null,"arxiv_id":"2605.23847","detector":"external_links","evidence":{"url":"https://arxiv.org/abs/2411","final_url":"https://arxiv.org/abs/2411","host_kind":"arxiv","status_code":404,"status_text":"Not Found","verdict_class":"incontrovertible","checked_at_unix":1779687291.2701821},"severity":"advisory","ref_index":null,"audited_at":"2026-05-25T05:34:51.635383Z","event_type":"pith.integrity.v1","detected_doi":null,"detector_url":"https://pith.science/pith-integrity-protocol#external_links","external_url":"https://arxiv.org/abs/2411","finding_type":"dead_url","evidence_hash":"12edaf820ebb14c26216c45a6b320a1974a883d82d0a9f3d24d3b97482a47395","paper_version":1,"verdict_class":"incontrovertible","resolved_title":null,"detector_version":"1.0.0","detected_arxiv_id":null,"integrity_event_id":7447,"payload_sha256":"46397123b1ccd5f27d3591db8d9ce6d90b9c116d9ef7f0d849f2d69485fefc8e","signature_b64":"rL4tL1gP4HEdKPr9nW40Dr7nxJVB5GSB3Emeo75iYYfBQo96mJRTbLwPLGqGA32EKj50LizLtyaRkWmtaoFPBg==","signing_key_id":"pith-v1-2026-05"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-25T05:34:54Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VNU8CksozuaKmNtlaa/pfY/NVbRSKVlkLVrE4gq2YpFqqHzVMGLyaNVHAbynYkV38Dpma7olqc2RgWzU/KPdCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T15:07:01.015059Z"},"content_sha256":"cba5a80dd3db3383bea09fb4a4ba818ebf95a0ae8cc8c18b12e9040068e564fa","schema_version":"1.0","event_id":"sha256:cba5a80dd3db3383bea09fb4a4ba818ebf95a0ae8cc8c18b12e9040068e564fa"},{"event_type":"integrity_finding","subject_pith_number":"pith:2026:GR3VT2DJBVNTJG7HYU6EWDNPAO","target":"integrity","payload":{"note":"URL 'https://api.semanticscholar.org/CorpusID' returned status 404 (Not Found) at last check.","snippet":null,"arxiv_id":"2605.23847","detector":"external_links","evidence":{"url":"https://api.semanticscholar.org/CorpusID","final_url":"https://api.semanticscholar.org/CorpusID","host_kind":"website","status_code":404,"status_text":"Not Found","verdict_class":"incontrovertible","checked_at_unix":1779687291.1633666},"severity":"advisory","ref_index":null,"audited_at":"2026-05-25T05:34:51.635383Z","event_type":"pith.integrity.v1","detected_doi":null,"detector_url":"https://pith.science/pith-integrity-protocol#external_links","external_url":"https://api.semanticscholar.org/CorpusID","finding_type":"dead_url","evidence_hash":"398008177a3fdb19c23cf361ff05c80dc7d4f8f4577b0bc73b10f2b9fb6aca82","paper_version":1,"verdict_class":"incontrovertible","resolved_title":null,"detector_version":"1.0.0","detected_arxiv_id":null,"integrity_event_id":7446,"payload_sha256":"f10e18d74cd35c25bc7839f1ef57ac45a329f81ed74488b5c7e61b544bbd27bc","signature_b64":"8349/mfvggWy9LmYGnNo+GSjx/+1u3Vm4evk3WFXn41n7o0qluZ84DetIBOZssC4Q3yWtM5NdSkhUHGDlX9NCQ==","signing_key_id":"pith-v1-2026-05"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-25T05:34:54Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KMuTqqLerhYLLoO1MCw04LqJFrtq88QSimzg7VOyw1q9ejO776wWT/Uslrk6Or7Jo7n3xoFRrnXgIYhTzc4UCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T15:07:01.015716Z"},"content_sha256":"11a7e5cc7dd9571c7a74310a0fb3b5727cb114560ef82e01684ac5d5e0ba6b71","schema_version":"1.0","event_id":"sha256:11a7e5cc7dd9571c7a74310a0fb3b5727cb114560ef82e01684ac5d5e0ba6b71"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GR3VT2DJBVNTJG7HYU6EWDNPAO/bundle.json","state_url":"https://pith.science/pith/GR3VT2DJBVNTJG7HYU6EWDNPAO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GR3VT2DJBVNTJG7HYU6EWDNPAO/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":"2026-05-25T15:07:01Z","links":{"resolver":"https://pith.science/pith/GR3VT2DJBVNTJG7HYU6EWDNPAO","bundle":"https://pith.science/pith/GR3VT2DJBVNTJG7HYU6EWDNPAO/bundle.json","state":"https://pith.science/pith/GR3VT2DJBVNTJG7HYU6EWDNPAO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GR3VT2DJBVNTJG7HYU6EWDNPAO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:GR3VT2DJBVNTJG7HYU6EWDNPAO","merge_version":"pith-open-graph-merge-v1","event_count":4,"valid_event_count":4,"invalid_event_count":0,"equivocation_count":1,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"cdf57e1ae617a296a52a86057d05309a47315970426375f032daa838a3a0d86d","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T16:59:55Z","title_canon_sha256":"67cc7e65c85e1647219e4530f6ffffd75c9fd121288b4b70d2f0dc840a8225a9"},"schema_version":"1.0","source":{"id":"2605.23847","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.23847","created_at":"2026-05-25T02:02:35Z"},{"alias_kind":"arxiv_version","alias_value":"2605.23847v1","created_at":"2026-05-25T02:02:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.23847","created_at":"2026-05-25T02:02:35Z"},{"alias_kind":"pith_short_12","alias_value":"GR3VT2DJBVNT","created_at":"2026-05-25T02:02:35Z"},{"alias_kind":"pith_short_16","alias_value":"GR3VT2DJBVNTJG7H","created_at":"2026-05-25T02:02:35Z"},{"alias_kind":"pith_short_8","alias_value":"GR3VT2DJ","created_at":"2026-05-25T02:02:35Z"}],"graph_snapshots":[{"event_id":"sha256:94edc4241cf85d40cb784336910da2fea8eef5b8346462e52eb9714693075720","target":"graph","created_at":"2026-05-25T02:02:35Z","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/2605.23847/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Large behaviour models have transformed the field of robotic manipulation, but prohibitive data requirements have thus far prevented a revolution similar to vision language models. We believe that instrumentation, i.e. sensor integration in objects, can provide invaluable state information and enable efficient learning for robotic manipulation. In this paper, we present instrumented imitation learning of clothes hanger insertion. Using 180 teleoperated demonstrations, we train diffusion policies with and without access to instrumentation data. Results show that policies leveraging instrumentat","authors_text":"Francis wyffels, Remko Proesmans, Thomas Lips","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T16:59:55Z","title":"Instrumentation for Imitation Learning: Enhancing Training Datasets for Clothes Hanger Insertion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.23847","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":"sha256:0dba8cf160b944d5a0a2ccded6950ad12637d6570f07200f6979e637836376d2","target":"record","created_at":"2026-05-25T02:02:35Z","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":"cdf57e1ae617a296a52a86057d05309a47315970426375f032daa838a3a0d86d","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T16:59:55Z","title_canon_sha256":"67cc7e65c85e1647219e4530f6ffffd75c9fd121288b4b70d2f0dc840a8225a9"},"schema_version":"1.0","source":{"id":"2605.23847","kind":"arxiv","version":1}},"canonical_sha256":"347759e8690d5b349be7c53c4b0daf039c2250c88f969664b223a3409eca63c1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"347759e8690d5b349be7c53c4b0daf039c2250c88f969664b223a3409eca63c1","first_computed_at":"2026-05-25T02:02:35.811873Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-25T02:02:35.811873Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"h5ZWRjPyXrMkIiqtNluevQhtCX5mk7v5C5rfRQ9kQqGpfzSFoEgYyDdtLtrys5GtYEuD9FQNC0fgi2TnswgXDQ==","signature_status":"signed_v1","signed_at":"2026-05-25T02:02:35.812576Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.23847","source_kind":"arxiv","source_version":1}}},"equivocations":[{"signer_id":"pith.science","event_type":"integrity_finding","target":"integrity","event_ids":["sha256:11a7e5cc7dd9571c7a74310a0fb3b5727cb114560ef82e01684ac5d5e0ba6b71","sha256:cba5a80dd3db3383bea09fb4a4ba818ebf95a0ae8cc8c18b12e9040068e564fa"]}],"invalid_events":[],"applied_event_ids":["sha256:0dba8cf160b944d5a0a2ccded6950ad12637d6570f07200f6979e637836376d2","sha256:94edc4241cf85d40cb784336910da2fea8eef5b8346462e52eb9714693075720"],"state_sha256":"99b9aa0277cadc17f2765726f56a31af752ff0a70f5e9c52b928c95f003b1305"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fdZLWi4vPwIYlWRx4MvFP6tzDqrvj/Xp9r33nAulPSb/oS1hNLfIr0O4xZGob43zJoGIFjoW8NngaHUMJKFjAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-25T15:07:01.020011Z","bundle_sha256":"46d5ba347261a9e17352cf759a67135b96e56036a2a2abe661c7bc7050a0413e"}}