{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:H3GTEWLPSFI4JLBJ2C42YMQ5RS","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":"b046c2efb987d7884d312d3641c67e8e5ab0d496ed55cd77ab0bbfb6944acaac","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-05T16:57:54Z","title_canon_sha256":"0becc89afca6f0efbbffed3c99117f53f3347be3170e11bd0906f7fcce5d36ec"},"schema_version":"1.0","source":{"id":"2003.02768","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2003.02768","created_at":"2026-07-05T00:45:59Z"},{"alias_kind":"arxiv_version","alias_value":"2003.02768v1","created_at":"2026-07-05T00:45:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2003.02768","created_at":"2026-07-05T00:45:59Z"},{"alias_kind":"pith_short_12","alias_value":"H3GTEWLPSFI4","created_at":"2026-07-05T00:45:59Z"},{"alias_kind":"pith_short_16","alias_value":"H3GTEWLPSFI4JLBJ","created_at":"2026-07-05T00:45:59Z"},{"alias_kind":"pith_short_8","alias_value":"H3GTEWLP","created_at":"2026-07-05T00:45:59Z"}],"graph_snapshots":[{"event_id":"sha256:4851b5498ad6cd7288ddf70d915c798344fe455f7832c04d241da89879f83761","target":"graph","created_at":"2026-07-05T00:45:59Z","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/2003.02768/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We consider the problem of visual imitation learning without human supervision (e.g. kinesthetic teaching or teleoperation), nor access to an interactive reinforcement learning (RL) training environment. We present a geometric perspective to derive solutions to this problem. Specifically, we propose VGS-IL (Visual Geometric Skill Imitation Learning), an end-to-end geometry-parameterized task concept inference method, to infer globally consistent geometric feature association rules from human demonstration video frames. We show that, instead of learning actions from image pixels, learning a geo","authors_text":"Jun Jin, Laura Petrich, Martin Jagersand, Masood Dehghan","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-05T16:57:54Z","title":"A Geometric Perspective on Visual Imitation Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2003.02768","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":"sha256:14d1348a7fac17d9b1383dff6267efb0ec7f23a64c0589f095c183234fa4bab6","target":"record","created_at":"2026-07-05T00:45:59Z","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":"b046c2efb987d7884d312d3641c67e8e5ab0d496ed55cd77ab0bbfb6944acaac","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-05T16:57:54Z","title_canon_sha256":"0becc89afca6f0efbbffed3c99117f53f3347be3170e11bd0906f7fcce5d36ec"},"schema_version":"1.0","source":{"id":"2003.02768","kind":"arxiv","version":1}},"canonical_sha256":"3ecd32596f9151c4ac29d0b9ac321d8c8e240d7fb68a87177de4bf13117462d7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3ecd32596f9151c4ac29d0b9ac321d8c8e240d7fb68a87177de4bf13117462d7","first_computed_at":"2026-07-05T00:45:59.531478Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:45:59.531478Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"WUN9x7E15pdI43rFlSHXdBBIwgYTvWtztQw9jB+eUAU7q8Xw3fgS7JchXZiqJnaZhJaScyw/SejU9n2HhqEGDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T00:45:59.531893Z","signed_message":"canonical_sha256_bytes"},"source_id":"2003.02768","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:14d1348a7fac17d9b1383dff6267efb0ec7f23a64c0589f095c183234fa4bab6","sha256:4851b5498ad6cd7288ddf70d915c798344fe455f7832c04d241da89879f83761"],"state_sha256":"c12478d133d0aa2c9e768bfca2a8a041459120326b2f159b37932133a2d150ae"}