{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:MZGF4MDKEJHRVY3SMO4IWNZ3B7","short_pith_number":"pith:MZGF4MDK","canonical_record":{"source":{"id":"1905.13566","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-30T05:54:30Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"0838e266e9572a206d41de771f6b57d46223e41b92a05da14b33ff7c3ff61dff","abstract_canon_sha256":"52d7902ee2bc9ba9f7634683302e1894129f425473923b4b912e5255e105153d"},"schema_version":"1.0"},"canonical_sha256":"664c5e306a224f1ae37263b88b373b0feb2aca934b87da1d63c51393c8009d84","source":{"kind":"arxiv","id":"1905.13566","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1905.13566","created_at":"2026-05-17T23:42:58Z"},{"alias_kind":"arxiv_version","alias_value":"1905.13566v2","created_at":"2026-05-17T23:42:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1905.13566","created_at":"2026-05-17T23:42:58Z"},{"alias_kind":"pith_short_12","alias_value":"MZGF4MDKEJHR","created_at":"2026-05-18T12:33:24Z"},{"alias_kind":"pith_short_16","alias_value":"MZGF4MDKEJHRVY3S","created_at":"2026-05-18T12:33:24Z"},{"alias_kind":"pith_short_8","alias_value":"MZGF4MDK","created_at":"2026-05-18T12:33:24Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:MZGF4MDKEJHRVY3SMO4IWNZ3B7","target":"record","payload":{"canonical_record":{"source":{"id":"1905.13566","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-30T05:54:30Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"0838e266e9572a206d41de771f6b57d46223e41b92a05da14b33ff7c3ff61dff","abstract_canon_sha256":"52d7902ee2bc9ba9f7634683302e1894129f425473923b4b912e5255e105153d"},"schema_version":"1.0"},"canonical_sha256":"664c5e306a224f1ae37263b88b373b0feb2aca934b87da1d63c51393c8009d84","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:42:58.108689Z","signature_b64":"SySgFfmgCAb4sMSxm1Orkr4jsMKC0hTO1hNAUEpRWf8go6/OWVvQP/pt4dIpfTUIUQwSsrKE/iiVfCFVXT+vDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"664c5e306a224f1ae37263b88b373b0feb2aca934b87da1d63c51393c8009d84","last_reissued_at":"2026-05-17T23:42:58.108091Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:42:58.108091Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1905.13566","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":"2026-05-17T23:42:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"s8FOJNIDFmkLGLPxfu0Bop8aXPdITHRCLfT+eqFF3+e8Bdj54DIM/51QQr32l/ThRbh2/lQJFdJ8xIX2t1+qCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T13:04:54.730101Z"},"content_sha256":"96c740b02c3de9f909ba29646c374e1780a48bb4919ae131fa8ffac139a7fc6a","schema_version":"1.0","event_id":"sha256:96c740b02c3de9f909ba29646c374e1780a48bb4919ae131fa8ffac139a7fc6a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:MZGF4MDKEJHRVY3SMO4IWNZ3B7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Recent Advances in Imitation Learning from Observation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Faraz Torabi, Garrett Warnell, Peter Stone","submitted_at":"2019-05-30T05:54:30Z","abstract_excerpt":"Imitation learning is the process by which one agent tries to learn how to perform a certain task using information generated by another, often more-expert agent performing that same task. Conventionally, the imitator has access to both state and action information generated by an expert performing the task (e.g., the expert may provide a kinesthetic demonstration of object placement using a robotic arm). However, requiring the action information prevents imitation learning from a large number of existing valuable learning resources such as online videos of humans performing tasks. To overcome"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1905.13566","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":""},"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":"2026-05-17T23:42:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fKcqPp/5+W/XW08l7tJ5QQ5ElP2wouBctMXo+6zphwSsGXJTY4HBGVVcogvJxMR1Qi0k5gBH3XNBOdMUtIERBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T13:04:54.730787Z"},"content_sha256":"f710312ecaaa39b7d102e3dce4c7c35bcd7db1c1bb1b9bbdfe498883c6a099fb","schema_version":"1.0","event_id":"sha256:f710312ecaaa39b7d102e3dce4c7c35bcd7db1c1bb1b9bbdfe498883c6a099fb"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MZGF4MDKEJHRVY3SMO4IWNZ3B7/bundle.json","state_url":"https://pith.science/pith/MZGF4MDKEJHRVY3SMO4IWNZ3B7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MZGF4MDKEJHRVY3SMO4IWNZ3B7/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":"2026-06-06T13:04:54Z","links":{"resolver":"https://pith.science/pith/MZGF4MDKEJHRVY3SMO4IWNZ3B7","bundle":"https://pith.science/pith/MZGF4MDKEJHRVY3SMO4IWNZ3B7/bundle.json","state":"https://pith.science/pith/MZGF4MDKEJHRVY3SMO4IWNZ3B7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MZGF4MDKEJHRVY3SMO4IWNZ3B7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:MZGF4MDKEJHRVY3SMO4IWNZ3B7","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":"52d7902ee2bc9ba9f7634683302e1894129f425473923b4b912e5255e105153d","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-30T05:54:30Z","title_canon_sha256":"0838e266e9572a206d41de771f6b57d46223e41b92a05da14b33ff7c3ff61dff"},"schema_version":"1.0","source":{"id":"1905.13566","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1905.13566","created_at":"2026-05-17T23:42:58Z"},{"alias_kind":"arxiv_version","alias_value":"1905.13566v2","created_at":"2026-05-17T23:42:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1905.13566","created_at":"2026-05-17T23:42:58Z"},{"alias_kind":"pith_short_12","alias_value":"MZGF4MDKEJHR","created_at":"2026-05-18T12:33:24Z"},{"alias_kind":"pith_short_16","alias_value":"MZGF4MDKEJHRVY3S","created_at":"2026-05-18T12:33:24Z"},{"alias_kind":"pith_short_8","alias_value":"MZGF4MDK","created_at":"2026-05-18T12:33:24Z"}],"graph_snapshots":[{"event_id":"sha256:f710312ecaaa39b7d102e3dce4c7c35bcd7db1c1bb1b9bbdfe498883c6a099fb","target":"graph","created_at":"2026-05-17T23:42:58Z","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"},"paper":{"abstract_excerpt":"Imitation learning is the process by which one agent tries to learn how to perform a certain task using information generated by another, often more-expert agent performing that same task. Conventionally, the imitator has access to both state and action information generated by an expert performing the task (e.g., the expert may provide a kinesthetic demonstration of object placement using a robotic arm). However, requiring the action information prevents imitation learning from a large number of existing valuable learning resources such as online videos of humans performing tasks. To overcome","authors_text":"Faraz Torabi, Garrett Warnell, Peter Stone","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-30T05:54:30Z","title":"Recent Advances in Imitation Learning from Observation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1905.13566","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":"sha256:96c740b02c3de9f909ba29646c374e1780a48bb4919ae131fa8ffac139a7fc6a","target":"record","created_at":"2026-05-17T23:42:58Z","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":"52d7902ee2bc9ba9f7634683302e1894129f425473923b4b912e5255e105153d","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-30T05:54:30Z","title_canon_sha256":"0838e266e9572a206d41de771f6b57d46223e41b92a05da14b33ff7c3ff61dff"},"schema_version":"1.0","source":{"id":"1905.13566","kind":"arxiv","version":2}},"canonical_sha256":"664c5e306a224f1ae37263b88b373b0feb2aca934b87da1d63c51393c8009d84","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"664c5e306a224f1ae37263b88b373b0feb2aca934b87da1d63c51393c8009d84","first_computed_at":"2026-05-17T23:42:58.108091Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:42:58.108091Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"SySgFfmgCAb4sMSxm1Orkr4jsMKC0hTO1hNAUEpRWf8go6/OWVvQP/pt4dIpfTUIUQwSsrKE/iiVfCFVXT+vDA==","signature_status":"signed_v1","signed_at":"2026-05-17T23:42:58.108689Z","signed_message":"canonical_sha256_bytes"},"source_id":"1905.13566","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:96c740b02c3de9f909ba29646c374e1780a48bb4919ae131fa8ffac139a7fc6a","sha256:f710312ecaaa39b7d102e3dce4c7c35bcd7db1c1bb1b9bbdfe498883c6a099fb"],"state_sha256":"238847a592c09c1234529c93295aa953909e7a92a2952668fa0280c344cfff66"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xnyhti0mskbBDb/1rkrExGX23iIia/zJarUSLRzdqdq9GQ6ksq+w8HVCwZpZveYZ7LKyKYiD1IE2Dz8RYDVBDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-06T13:04:54.734329Z","bundle_sha256":"2c1639a101f705757a9877aa7ee4a41d31def4fbcf66fe795c9c149689b2889c"}}