{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:NCRRZZ7T3M4KRBUHHZNNGSHLPG","short_pith_number":"pith:NCRRZZ7T","canonical_record":{"source":{"id":"2502.01913","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-04T01:05:18Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"6656c7d6503bc233458ca9cb83af04b098d91bf7f9072b7c0674e2d0fbcd31d1","abstract_canon_sha256":"973a068282d5ff78c66174765741b521744d639767c34b7662a9e9711de86161"},"schema_version":"1.0"},"canonical_sha256":"68a31ce7f3db38a886873e5ad348eb79b99f1825e862f91aa5ca300bfda8557c","source":{"kind":"arxiv","id":"2502.01913","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.01913","created_at":"2026-07-05T10:09:21Z"},{"alias_kind":"arxiv_version","alias_value":"2502.01913v1","created_at":"2026-07-05T10:09:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.01913","created_at":"2026-07-05T10:09:21Z"},{"alias_kind":"pith_short_12","alias_value":"NCRRZZ7T3M4K","created_at":"2026-07-05T10:09:21Z"},{"alias_kind":"pith_short_16","alias_value":"NCRRZZ7T3M4KRBUH","created_at":"2026-07-05T10:09:21Z"},{"alias_kind":"pith_short_8","alias_value":"NCRRZZ7T","created_at":"2026-07-05T10:09:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:NCRRZZ7T3M4KRBUHHZNNGSHLPG","target":"record","payload":{"canonical_record":{"source":{"id":"2502.01913","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-04T01:05:18Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"6656c7d6503bc233458ca9cb83af04b098d91bf7f9072b7c0674e2d0fbcd31d1","abstract_canon_sha256":"973a068282d5ff78c66174765741b521744d639767c34b7662a9e9711de86161"},"schema_version":"1.0"},"canonical_sha256":"68a31ce7f3db38a886873e5ad348eb79b99f1825e862f91aa5ca300bfda8557c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:09:21.117228Z","signature_b64":"Yl8sq3dUuSatRJInWnX67FV07XbbpOiBqz5Mb6mcuklStP8Xp9yKd75uWtbfB09+jBpcuHFfc0jQ63JsbGfSBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"68a31ce7f3db38a886873e5ad348eb79b99f1825e862f91aa5ca300bfda8557c","last_reissued_at":"2026-07-05T10:09:21.116707Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:09:21.116707Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2502.01913","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":"2026-07-05T10:09:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mJ1Mmm8oTZDJACQdV5zfK2yar/9KXJ3zUA7c5LOoIbg+WpLtdZ2D7QCcTea+cxxCm0v1+TBXo5o4wJdc1bJOCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T15:56:41.731697Z"},"content_sha256":"a5bd1445876e4db4b056f3379f5d0dee1f1f34f6757fc0b46947422e6fdea837","schema_version":"1.0","event_id":"sha256:a5bd1445876e4db4b056f3379f5d0dee1f1f34f6757fc0b46947422e6fdea837"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:NCRRZZ7T3M4KRBUHHZNNGSHLPG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Composite Gaussian Processes Flows for Learning Discontinuous Multimodal Policies","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Hikaru Sasaki, Shu-yuan Wang, Takamitsu Matsubara","submitted_at":"2025-02-04T01:05:18Z","abstract_excerpt":"Learning control policies for real-world robotic tasks often involve challenges such as multimodality, local discontinuities, and the need for computational efficiency. These challenges arise from the complexity of robotic environments, where multiple solutions may coexist. To address these issues, we propose Composite Gaussian Processes Flows (CGP-Flows), a novel semi-parametric model for robotic policy. CGP-Flows integrate Overlapping Mixtures of Gaussian Processes (OMGPs) with the Continuous Normalizing Flows (CNFs), enabling them to model complex policies addressing multimodality and local"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.01913","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/2502.01913/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":"2026-07-05T10:09:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"s9JnKcA9AskS5ENdhElUS/LKNLznGaNTdQ41PHVhY7yx+W7Srtg18fueYwQVOlKZ1Zz1y3SC3WoNDlIG4aRjDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T15:56:41.732336Z"},"content_sha256":"366a5b163a59c86c0e774d289a269e7fadb7601ccd821e99ba75bff56fd919cc","schema_version":"1.0","event_id":"sha256:366a5b163a59c86c0e774d289a269e7fadb7601ccd821e99ba75bff56fd919cc"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/NCRRZZ7T3M4KRBUHHZNNGSHLPG/bundle.json","state_url":"https://pith.science/pith/NCRRZZ7T3M4KRBUHHZNNGSHLPG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/NCRRZZ7T3M4KRBUHHZNNGSHLPG/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":"2026-08-21T15:56:41Z","links":{"resolver":"https://pith.science/pith/NCRRZZ7T3M4KRBUHHZNNGSHLPG","bundle":"https://pith.science/pith/NCRRZZ7T3M4KRBUHHZNNGSHLPG/bundle.json","state":"https://pith.science/pith/NCRRZZ7T3M4KRBUHHZNNGSHLPG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/NCRRZZ7T3M4KRBUHHZNNGSHLPG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:NCRRZZ7T3M4KRBUHHZNNGSHLPG","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":"973a068282d5ff78c66174765741b521744d639767c34b7662a9e9711de86161","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-04T01:05:18Z","title_canon_sha256":"6656c7d6503bc233458ca9cb83af04b098d91bf7f9072b7c0674e2d0fbcd31d1"},"schema_version":"1.0","source":{"id":"2502.01913","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.01913","created_at":"2026-07-05T10:09:21Z"},{"alias_kind":"arxiv_version","alias_value":"2502.01913v1","created_at":"2026-07-05T10:09:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.01913","created_at":"2026-07-05T10:09:21Z"},{"alias_kind":"pith_short_12","alias_value":"NCRRZZ7T3M4K","created_at":"2026-07-05T10:09:21Z"},{"alias_kind":"pith_short_16","alias_value":"NCRRZZ7T3M4KRBUH","created_at":"2026-07-05T10:09:21Z"},{"alias_kind":"pith_short_8","alias_value":"NCRRZZ7T","created_at":"2026-07-05T10:09:21Z"}],"graph_snapshots":[{"event_id":"sha256:366a5b163a59c86c0e774d289a269e7fadb7601ccd821e99ba75bff56fd919cc","target":"graph","created_at":"2026-07-05T10:09:21Z","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/2502.01913/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Learning control policies for real-world robotic tasks often involve challenges such as multimodality, local discontinuities, and the need for computational efficiency. These challenges arise from the complexity of robotic environments, where multiple solutions may coexist. To address these issues, we propose Composite Gaussian Processes Flows (CGP-Flows), a novel semi-parametric model for robotic policy. CGP-Flows integrate Overlapping Mixtures of Gaussian Processes (OMGPs) with the Continuous Normalizing Flows (CNFs), enabling them to model complex policies addressing multimodality and local","authors_text":"Hikaru Sasaki, Shu-yuan Wang, Takamitsu Matsubara","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-04T01:05:18Z","title":"Composite Gaussian Processes Flows for Learning Discontinuous Multimodal Policies"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.01913","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:a5bd1445876e4db4b056f3379f5d0dee1f1f34f6757fc0b46947422e6fdea837","target":"record","created_at":"2026-07-05T10:09:21Z","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":"973a068282d5ff78c66174765741b521744d639767c34b7662a9e9711de86161","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-04T01:05:18Z","title_canon_sha256":"6656c7d6503bc233458ca9cb83af04b098d91bf7f9072b7c0674e2d0fbcd31d1"},"schema_version":"1.0","source":{"id":"2502.01913","kind":"arxiv","version":1}},"canonical_sha256":"68a31ce7f3db38a886873e5ad348eb79b99f1825e862f91aa5ca300bfda8557c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"68a31ce7f3db38a886873e5ad348eb79b99f1825e862f91aa5ca300bfda8557c","first_computed_at":"2026-07-05T10:09:21.116707Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:09:21.116707Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Yl8sq3dUuSatRJInWnX67FV07XbbpOiBqz5Mb6mcuklStP8Xp9yKd75uWtbfB09+jBpcuHFfc0jQ63JsbGfSBA==","signature_status":"signed_v1","signed_at":"2026-07-05T10:09:21.117228Z","signed_message":"canonical_sha256_bytes"},"source_id":"2502.01913","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a5bd1445876e4db4b056f3379f5d0dee1f1f34f6757fc0b46947422e6fdea837","sha256:366a5b163a59c86c0e774d289a269e7fadb7601ccd821e99ba75bff56fd919cc"],"state_sha256":"e744179fde7b571a9a0aead54e4a664f0a661d5fe3320d547199352ca7d1d64a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hpOE8Log7DMA2PV1gNlmZG4fzaAp9pt0Ya8TfQmJErB5nPCFkFH0b067RhfRNwkAzxZmXL2vqyCtPtitqKCUCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-21T15:56:41.737353Z","bundle_sha256":"53cd294d2339a120056ce8ab668c5557e750c999d9d98d4678526b3a1a5f5b4f"}}