{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:MHSU4XVPD55AOFXLEPDLYYT2TP","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":"b5173d05e2579ee706d41fc527e0a629b55ec3afdd6785723629ccb3b747c6a1","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T17:18:19Z","title_canon_sha256":"4734e821703bf1eaea2526c5e1c5cdd8e23f56738a7fe3ac9d65c00071437c54"},"schema_version":"1.0","source":{"id":"2606.09758","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.09758","created_at":"2026-06-09T02:09:08Z"},{"alias_kind":"arxiv_version","alias_value":"2606.09758v1","created_at":"2026-06-09T02:09:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.09758","created_at":"2026-06-09T02:09:08Z"},{"alias_kind":"pith_short_12","alias_value":"MHSU4XVPD55A","created_at":"2026-06-09T02:09:08Z"},{"alias_kind":"pith_short_16","alias_value":"MHSU4XVPD55AOFXL","created_at":"2026-06-09T02:09:08Z"},{"alias_kind":"pith_short_8","alias_value":"MHSU4XVP","created_at":"2026-06-09T02:09:08Z"}],"graph_snapshots":[{"event_id":"sha256:ecba46095c7123fdfa9d385d1b126f958336105591b4b72a5b63a436d08d7bfb","target":"graph","created_at":"2026-06-09T02:09:08Z","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/2606.09758/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Parametric imitation learning via behavior cloning can suffer from poor generalization to out-of-distribution states due to compounding errors during deployment. We show that reusing the training data during inference via a semi-parametric retrieval-based imitation learning approach can alleviate this challenge. We present Difference-Aware Retrieval Policies for Imitation Learning (DARP), a semi-parametric retrieval-based imitation learning approach that addresses this limitation by reparameterizing the imitation learning problem in terms of local neighborhood structure rather than direct stat","authors_text":"Abhishek Gupta, Ethan Pronovost, Khimya Khetarpal, Paarth Shah, Quinn Pfeifer, Siddhartha Srinivasa","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T17:18:19Z","title":"Difference-Aware Retrieval Policies for Imitation Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.09758","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:ade7b5989a4a5b5e8e55f283fa54f80944e6c6852764286b523de3c872cbe2c2","target":"record","created_at":"2026-06-09T02:09:08Z","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":"b5173d05e2579ee706d41fc527e0a629b55ec3afdd6785723629ccb3b747c6a1","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T17:18:19Z","title_canon_sha256":"4734e821703bf1eaea2526c5e1c5cdd8e23f56738a7fe3ac9d65c00071437c54"},"schema_version":"1.0","source":{"id":"2606.09758","kind":"arxiv","version":1}},"canonical_sha256":"61e54e5eaf1f7a0716eb23c6bc627a9bfc6b61c2e7dd25cf55d748b6e12e8850","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"61e54e5eaf1f7a0716eb23c6bc627a9bfc6b61c2e7dd25cf55d748b6e12e8850","first_computed_at":"2026-06-09T02:09:08.044353Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-09T02:09:08.044353Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"zfwHjx3TTd+iN3fYb0wxNYsOBYyazCfg22ZrfX+TveA59YETSy5HfYTLyKf1mdAGDLXZTkDkPyY60L37DVbOBg==","signature_status":"signed_v1","signed_at":"2026-06-09T02:09:08.045155Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.09758","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ade7b5989a4a5b5e8e55f283fa54f80944e6c6852764286b523de3c872cbe2c2","sha256:ecba46095c7123fdfa9d385d1b126f958336105591b4b72a5b63a436d08d7bfb"],"state_sha256":"26337788f7c927a1fa91ffc8d784d243c7d3dba44985a1a1ef147fc0b18a7b30"}