{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:MROC5BMTXKCPMRFKJLPDOQDHQG","short_pith_number":"pith:MROC5BMT","canonical_record":{"source":{"id":"2410.22332","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-29T17:59:55Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"42e3fcb8883473ec98baa11619363c719ce3f70bec3c499167f1709ec3f300dd","abstract_canon_sha256":"a2bcab97d91a08ca4cbf7c313d84d5cce3ae66cbebf0b718e0f49173f96e1e8c"},"schema_version":"1.0"},"canonical_sha256":"645c2e8593ba84f644aa4ade374067818cf2f9c46b459546fa140a90341f33d4","source":{"kind":"arxiv","id":"2410.22332","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.22332","created_at":"2026-07-05T10:27:18Z"},{"alias_kind":"arxiv_version","alias_value":"2410.22332v2","created_at":"2026-07-05T10:27:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.22332","created_at":"2026-07-05T10:27:18Z"},{"alias_kind":"pith_short_12","alias_value":"MROC5BMTXKCP","created_at":"2026-07-05T10:27:18Z"},{"alias_kind":"pith_short_16","alias_value":"MROC5BMTXKCPMRFK","created_at":"2026-07-05T10:27:18Z"},{"alias_kind":"pith_short_8","alias_value":"MROC5BMT","created_at":"2026-07-05T10:27:18Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:MROC5BMTXKCPMRFKJLPDOQDHQG","target":"record","payload":{"canonical_record":{"source":{"id":"2410.22332","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-29T17:59:55Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"42e3fcb8883473ec98baa11619363c719ce3f70bec3c499167f1709ec3f300dd","abstract_canon_sha256":"a2bcab97d91a08ca4cbf7c313d84d5cce3ae66cbebf0b718e0f49173f96e1e8c"},"schema_version":"1.0"},"canonical_sha256":"645c2e8593ba84f644aa4ade374067818cf2f9c46b459546fa140a90341f33d4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:27:18.457436Z","signature_b64":"/E88telW3mIUnVgtGtkeSvxLJ8Wvp2rxk5KR5YDNlSEtPHEJ6vsFRzNjWteDL7tToe78x8ipI3IfMG0g6I+IBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"645c2e8593ba84f644aa4ade374067818cf2f9c46b459546fa140a90341f33d4","last_reissued_at":"2026-07-05T10:27:18.456943Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:27:18.456943Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2410.22332","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:27:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LOpx0dAFvbD3xIsb5aTUcuxLc4oij7iELRFAdX0XB6I1lK6kapfA0zDuKPQL135HXiuMU6Rsl8m9/w4pdGMuBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T12:11:01.097488Z"},"content_sha256":"a5622de0f39f60164c2e6616e16a6755d53d1c24e6eae1aae155fa9848f27263","schema_version":"1.0","event_id":"sha256:a5622de0f39f60164c2e6616e16a6755d53d1c24e6eae1aae155fa9848f27263"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:MROC5BMTXKCPMRFKJLPDOQDHQG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Local Policies Enable Zero-shot Long-horizon Manipulation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Chen Chen, Deepak Pathak, Jian Zhang, Min Liu, Murtaza Dalal, Ruslan Salakhutdinov, Walter Talbott","submitted_at":"2024-10-29T17:59:55Z","abstract_excerpt":"Sim2real for robotic manipulation is difficult due to the challenges of simulating complex contacts and generating realistic task distributions. To tackle the latter problem, we introduce ManipGen, which leverages a new class of policies for sim2real transfer: local policies. Locality enables a variety of appealing properties including invariances to absolute robot and object pose, skill ordering, and global scene configuration. We combine these policies with foundation models for vision, language and motion planning and demonstrate SOTA zero-shot performance of our method to Robosuite benchma"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.22332","kind":"arxiv","version":2},"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/2410.22332/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":"2026-07-05T10:27:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IvItePC/F3aUw/0rwJhcMFyHXi0AE4XAUZi8RmWvU5D+NL7Yl67jfM/HlLaq26d93NzA81qqOei84W5lDwPwBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T12:11:01.098565Z"},"content_sha256":"cf840699bd97d43a9a7f8b4d1dc2f26ee17512c6839d7421e36a403e8df78223","schema_version":"1.0","event_id":"sha256:cf840699bd97d43a9a7f8b4d1dc2f26ee17512c6839d7421e36a403e8df78223"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MROC5BMTXKCPMRFKJLPDOQDHQG/bundle.json","state_url":"https://pith.science/pith/MROC5BMTXKCPMRFKJLPDOQDHQG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MROC5BMTXKCPMRFKJLPDOQDHQG/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":"2026-08-09T12:11:01Z","links":{"resolver":"https://pith.science/pith/MROC5BMTXKCPMRFKJLPDOQDHQG","bundle":"https://pith.science/pith/MROC5BMTXKCPMRFKJLPDOQDHQG/bundle.json","state":"https://pith.science/pith/MROC5BMTXKCPMRFKJLPDOQDHQG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MROC5BMTXKCPMRFKJLPDOQDHQG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:MROC5BMTXKCPMRFKJLPDOQDHQG","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":"a2bcab97d91a08ca4cbf7c313d84d5cce3ae66cbebf0b718e0f49173f96e1e8c","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-29T17:59:55Z","title_canon_sha256":"42e3fcb8883473ec98baa11619363c719ce3f70bec3c499167f1709ec3f300dd"},"schema_version":"1.0","source":{"id":"2410.22332","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.22332","created_at":"2026-07-05T10:27:18Z"},{"alias_kind":"arxiv_version","alias_value":"2410.22332v2","created_at":"2026-07-05T10:27:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.22332","created_at":"2026-07-05T10:27:18Z"},{"alias_kind":"pith_short_12","alias_value":"MROC5BMTXKCP","created_at":"2026-07-05T10:27:18Z"},{"alias_kind":"pith_short_16","alias_value":"MROC5BMTXKCPMRFK","created_at":"2026-07-05T10:27:18Z"},{"alias_kind":"pith_short_8","alias_value":"MROC5BMT","created_at":"2026-07-05T10:27:18Z"}],"graph_snapshots":[{"event_id":"sha256:cf840699bd97d43a9a7f8b4d1dc2f26ee17512c6839d7421e36a403e8df78223","target":"graph","created_at":"2026-07-05T10:27:18Z","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/2410.22332/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Sim2real for robotic manipulation is difficult due to the challenges of simulating complex contacts and generating realistic task distributions. To tackle the latter problem, we introduce ManipGen, which leverages a new class of policies for sim2real transfer: local policies. Locality enables a variety of appealing properties including invariances to absolute robot and object pose, skill ordering, and global scene configuration. We combine these policies with foundation models for vision, language and motion planning and demonstrate SOTA zero-shot performance of our method to Robosuite benchma","authors_text":"Chen Chen, Deepak Pathak, Jian Zhang, Min Liu, Murtaza Dalal, Ruslan Salakhutdinov, Walter Talbott","cross_cats":["cs.CV","cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-29T17:59:55Z","title":"Local Policies Enable Zero-shot Long-horizon Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.22332","kind":"arxiv","version":2},"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:a5622de0f39f60164c2e6616e16a6755d53d1c24e6eae1aae155fa9848f27263","target":"record","created_at":"2026-07-05T10:27:18Z","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":"a2bcab97d91a08ca4cbf7c313d84d5cce3ae66cbebf0b718e0f49173f96e1e8c","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-29T17:59:55Z","title_canon_sha256":"42e3fcb8883473ec98baa11619363c719ce3f70bec3c499167f1709ec3f300dd"},"schema_version":"1.0","source":{"id":"2410.22332","kind":"arxiv","version":2}},"canonical_sha256":"645c2e8593ba84f644aa4ade374067818cf2f9c46b459546fa140a90341f33d4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"645c2e8593ba84f644aa4ade374067818cf2f9c46b459546fa140a90341f33d4","first_computed_at":"2026-07-05T10:27:18.456943Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:27:18.456943Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/E88telW3mIUnVgtGtkeSvxLJ8Wvp2rxk5KR5YDNlSEtPHEJ6vsFRzNjWteDL7tToe78x8ipI3IfMG0g6I+IBA==","signature_status":"signed_v1","signed_at":"2026-07-05T10:27:18.457436Z","signed_message":"canonical_sha256_bytes"},"source_id":"2410.22332","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a5622de0f39f60164c2e6616e16a6755d53d1c24e6eae1aae155fa9848f27263","sha256:cf840699bd97d43a9a7f8b4d1dc2f26ee17512c6839d7421e36a403e8df78223"],"state_sha256":"9a8607cfd576890493e2b929412c710ff3894c5ffce815a74a26d3639defb9de"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZFJ4Cyuj9ceWN72su+VP+pB4+wWhTDmTlzQh6eWo7xpVHhm9khkNEAXQbMZewtW1WEFIpNyfBsLjmDnGP/gfDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T12:11:01.104714Z","bundle_sha256":"203f610465209ca096d375cc08eaaf6f57b994c7ea8389036264d2bea6419028"}}