{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:JXPUA3FS5XF4CVFATJNBFX6JN7","short_pith_number":"pith:JXPUA3FS","canonical_record":{"source":{"id":"2103.05922","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-10T08:28:38Z","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"0084f55cfaaddeff642a3896e379e2f6fb0719af835bcae5afc50e92ee2b5f14","abstract_canon_sha256":"c99bf221d73c362b7aabd932d5d93f027252de5fb929a382c5e0e6ed26a70540"},"schema_version":"1.0"},"canonical_sha256":"4ddf406cb2edcbc154a09a5a12dfc96fee376b09822e6a8629ef51e8e6389fb2","source":{"kind":"arxiv","id":"2103.05922","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.05922","created_at":"2026-07-05T02:21:59Z"},{"alias_kind":"arxiv_version","alias_value":"2103.05922v1","created_at":"2026-07-05T02:21:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.05922","created_at":"2026-07-05T02:21:59Z"},{"alias_kind":"pith_short_12","alias_value":"JXPUA3FS5XF4","created_at":"2026-07-05T02:21:59Z"},{"alias_kind":"pith_short_16","alias_value":"JXPUA3FS5XF4CVFA","created_at":"2026-07-05T02:21:59Z"},{"alias_kind":"pith_short_8","alias_value":"JXPUA3FS","created_at":"2026-07-05T02:21:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:JXPUA3FS5XF4CVFATJNBFX6JN7","target":"record","payload":{"canonical_record":{"source":{"id":"2103.05922","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-10T08:28:38Z","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"0084f55cfaaddeff642a3896e379e2f6fb0719af835bcae5afc50e92ee2b5f14","abstract_canon_sha256":"c99bf221d73c362b7aabd932d5d93f027252de5fb929a382c5e0e6ed26a70540"},"schema_version":"1.0"},"canonical_sha256":"4ddf406cb2edcbc154a09a5a12dfc96fee376b09822e6a8629ef51e8e6389fb2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:21:59.634080Z","signature_b64":"ZMlD6coUcWFfCBFpBVpjkTFlYqWSj2JeVLImhg1q4hx4g2G1e2evWBpfhOsCPxFTXynianbcA2YCbAq1IuKJDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4ddf406cb2edcbc154a09a5a12dfc96fee376b09822e6a8629ef51e8e6389fb2","last_reissued_at":"2026-07-05T02:21:59.633585Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:21:59.633585Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2103.05922","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":"2026-07-05T02:21:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vkp2iUmvJY9otYB8dZ7wiD0jXOt24wOFtjnI9j3Nsx58/cTmWIgdMiC+XECohhRFlOfo/W6gme9In6L7y/6HCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T19:22:56.119686Z"},"content_sha256":"26aedf4a4e7b7a97b8a8824953c5bf9fdb67f06e5fd3d94503fd42199b7dc3a8","schema_version":"1.0","event_id":"sha256:26aedf4a4e7b7a97b8a8824953c5bf9fdb67f06e5fd3d94503fd42199b7dc3a8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:JXPUA3FS5XF4CVFATJNBFX6JN7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"RMP2: A Structured Composable Policy Class for Robot Learning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Anqi Li, Byron Boots, Ching-An Cheng, Karl Van Wyk, Man Xie, M. Asif Rana, Nathan Ratliff","submitted_at":"2021-03-10T08:28:38Z","abstract_excerpt":"We consider the problem of learning motion policies for acceleration-based robotics systems with a structured policy class specified by RMPflow. RMPflow is a multi-task control framework that has been successfully applied in many robotics problems. Using RMPflow as a structured policy class in learning has several benefits, such as sufficient expressiveness, the flexibility to inject different levels of prior knowledge as well as the ability to transfer policies between robots. However, implementing a system for end-to-end learning RMPflow policies faces several computational challenges. In th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.05922","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/2103.05922/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":"2026-07-05T02:21:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CcB+qCbalvrSEMtGLNukDA38j41GLegjkobyrXLnj5CYW5RIRe+dLKg1wg9b/g1Mwarn5mT5319r4GT3kZBMAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T19:22:56.120053Z"},"content_sha256":"e939c22edf6c7d5f011b608d06d9b808b3d7c056c46cec167d061c950782b212","schema_version":"1.0","event_id":"sha256:e939c22edf6c7d5f011b608d06d9b808b3d7c056c46cec167d061c950782b212"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JXPUA3FS5XF4CVFATJNBFX6JN7/bundle.json","state_url":"https://pith.science/pith/JXPUA3FS5XF4CVFATJNBFX6JN7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JXPUA3FS5XF4CVFATJNBFX6JN7/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":"2026-07-06T19:22:56Z","links":{"resolver":"https://pith.science/pith/JXPUA3FS5XF4CVFATJNBFX6JN7","bundle":"https://pith.science/pith/JXPUA3FS5XF4CVFATJNBFX6JN7/bundle.json","state":"https://pith.science/pith/JXPUA3FS5XF4CVFATJNBFX6JN7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JXPUA3FS5XF4CVFATJNBFX6JN7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:JXPUA3FS5XF4CVFATJNBFX6JN7","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":"c99bf221d73c362b7aabd932d5d93f027252de5fb929a382c5e0e6ed26a70540","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-10T08:28:38Z","title_canon_sha256":"0084f55cfaaddeff642a3896e379e2f6fb0719af835bcae5afc50e92ee2b5f14"},"schema_version":"1.0","source":{"id":"2103.05922","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.05922","created_at":"2026-07-05T02:21:59Z"},{"alias_kind":"arxiv_version","alias_value":"2103.05922v1","created_at":"2026-07-05T02:21:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.05922","created_at":"2026-07-05T02:21:59Z"},{"alias_kind":"pith_short_12","alias_value":"JXPUA3FS5XF4","created_at":"2026-07-05T02:21:59Z"},{"alias_kind":"pith_short_16","alias_value":"JXPUA3FS5XF4CVFA","created_at":"2026-07-05T02:21:59Z"},{"alias_kind":"pith_short_8","alias_value":"JXPUA3FS","created_at":"2026-07-05T02:21:59Z"}],"graph_snapshots":[{"event_id":"sha256:e939c22edf6c7d5f011b608d06d9b808b3d7c056c46cec167d061c950782b212","target":"graph","created_at":"2026-07-05T02:21:59Z","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/2103.05922/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We consider the problem of learning motion policies for acceleration-based robotics systems with a structured policy class specified by RMPflow. RMPflow is a multi-task control framework that has been successfully applied in many robotics problems. Using RMPflow as a structured policy class in learning has several benefits, such as sufficient expressiveness, the flexibility to inject different levels of prior knowledge as well as the ability to transfer policies between robots. However, implementing a system for end-to-end learning RMPflow policies faces several computational challenges. In th","authors_text":"Anqi Li, Byron Boots, Ching-An Cheng, Karl Van Wyk, Man Xie, M. Asif Rana, Nathan Ratliff","cross_cats":["cs.LG","cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-10T08:28:38Z","title":"RMP2: A Structured Composable Policy Class for Robot Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.05922","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":"sha256:26aedf4a4e7b7a97b8a8824953c5bf9fdb67f06e5fd3d94503fd42199b7dc3a8","target":"record","created_at":"2026-07-05T02:21:59Z","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":"c99bf221d73c362b7aabd932d5d93f027252de5fb929a382c5e0e6ed26a70540","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-10T08:28:38Z","title_canon_sha256":"0084f55cfaaddeff642a3896e379e2f6fb0719af835bcae5afc50e92ee2b5f14"},"schema_version":"1.0","source":{"id":"2103.05922","kind":"arxiv","version":1}},"canonical_sha256":"4ddf406cb2edcbc154a09a5a12dfc96fee376b09822e6a8629ef51e8e6389fb2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4ddf406cb2edcbc154a09a5a12dfc96fee376b09822e6a8629ef51e8e6389fb2","first_computed_at":"2026-07-05T02:21:59.633585Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:21:59.633585Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ZMlD6coUcWFfCBFpBVpjkTFlYqWSj2JeVLImhg1q4hx4g2G1e2evWBpfhOsCPxFTXynianbcA2YCbAq1IuKJDA==","signature_status":"signed_v1","signed_at":"2026-07-05T02:21:59.634080Z","signed_message":"canonical_sha256_bytes"},"source_id":"2103.05922","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:26aedf4a4e7b7a97b8a8824953c5bf9fdb67f06e5fd3d94503fd42199b7dc3a8","sha256:e939c22edf6c7d5f011b608d06d9b808b3d7c056c46cec167d061c950782b212"],"state_sha256":"a04423240f96992589e3f958542773c581e31373eeee264d5b2fa1e79657e34d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pfWhj86QPoUp8Hbn1uPQ/A1pVHrUukmOr5o4bep68igxVh8D4HasFLTBG99nONU4b50BoRgLJg2cHlL+qxSsBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T19:22:56.121961Z","bundle_sha256":"ff3a4816e2ef08fcc9ff334996ab4e9eca6633042f1828ead24e95e91174a814"}}