{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:LZRHZY7V5YIQDY6DSG3IBVFTTV","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":"429231fa178ca535cd299086aaa41c14b991ec91548824a69ada857f2956f2c3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-09T13:38:03Z","title_canon_sha256":"9e0d2bf1a4a504c69043a20f1a059d74a97cdcc9e783cf3512df30369323dd46"},"schema_version":"1.0","source":{"id":"2310.05714","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.05714","created_at":"2026-07-05T09:01:26Z"},{"alias_kind":"arxiv_version","alias_value":"2310.05714v3","created_at":"2026-07-05T09:01:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.05714","created_at":"2026-07-05T09:01:26Z"},{"alias_kind":"pith_short_12","alias_value":"LZRHZY7V5YIQ","created_at":"2026-07-05T09:01:26Z"},{"alias_kind":"pith_short_16","alias_value":"LZRHZY7V5YIQDY6D","created_at":"2026-07-05T09:01:26Z"},{"alias_kind":"pith_short_8","alias_value":"LZRHZY7V","created_at":"2026-07-05T09:01:26Z"}],"graph_snapshots":[{"event_id":"sha256:86e5b8217430582937adbf86c1080cfdc19b6646d64a182feb42fd8f048777de","target":"graph","created_at":"2026-07-05T09:01:26Z","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/2310.05714/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Optimal Control for legged robots has gone through a paradigm shift from position-based to torque-based control, owing to the latter's compliant and robust nature. In parallel to this shift, the community has also turned to Deep Reinforcement Learning (DRL) as a promising approach to directly learn locomotion policies for complex real-life tasks. However, most end-to-end DRL approaches still operate in position space, mainly because learning in torque space is often sample-inefficient and does not consistently converge to natural gaits. To address these challenges, we propose a two-stage frame","authors_text":"Ge Sun, Guillaume Sartoretti, Peizhuo Li, Shivam Sood","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-09T13:38:03Z","title":"DecAP: Decaying Action Priors for Accelerated Imitation Learning of Torque-Based Legged Locomotion Policies"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.05714","kind":"arxiv","version":3},"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":"sha256:30e840c70976b45422a51fab367fecc1d3dba7360b5d93e2846288581ecf5979","target":"record","created_at":"2026-07-05T09:01:26Z","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":"429231fa178ca535cd299086aaa41c14b991ec91548824a69ada857f2956f2c3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-09T13:38:03Z","title_canon_sha256":"9e0d2bf1a4a504c69043a20f1a059d74a97cdcc9e783cf3512df30369323dd46"},"schema_version":"1.0","source":{"id":"2310.05714","kind":"arxiv","version":3}},"canonical_sha256":"5e627ce3f5ee1101e3c391b680d4b39d6536275fd61da0d907732caafbef2e6e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5e627ce3f5ee1101e3c391b680d4b39d6536275fd61da0d907732caafbef2e6e","first_computed_at":"2026-07-05T09:01:26.373730Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:01:26.373730Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"mL5miHQdg7HmzmwaACNj+GXoMpE4e809lX8Il/Egph2Q7vQegnrO6hYp+Zk52x5bX6IRMSxr0OVVAgtv76FaCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:01:26.374244Z","signed_message":"canonical_sha256_bytes"},"source_id":"2310.05714","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:30e840c70976b45422a51fab367fecc1d3dba7360b5d93e2846288581ecf5979","sha256:86e5b8217430582937adbf86c1080cfdc19b6646d64a182feb42fd8f048777de"],"state_sha256":"887fbcea81c0eb966fa682a0b3a5c973a59b67088ceb7a9da811184b66b4b0eb"}