{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:NULYOBOZSE2JMUV3EMYMUUSAZC","short_pith_number":"pith:NULYOBOZ","canonical_record":{"source":{"id":"2005.07648","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-15T17:08:50Z","cross_cats_sorted":["cs.AI","cs.CL","cs.CV"],"title_canon_sha256":"89bdcdd70b6c7da974426dc4d5a7aa945601ec0987ef77ff73264c5d7dcf72b7","abstract_canon_sha256":"0f483bdc9b0fda5c4681879948a6bbaeb9ae07092ae98d32159bd33bf0d8e4d3"},"schema_version":"1.0"},"canonical_sha256":"6d178705d991349652bb2330ca5240c8a5925e5957d4da2d8e5ff70d07705b7a","source":{"kind":"arxiv","id":"2005.07648","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2005.07648","created_at":"2026-07-05T02:56:03Z"},{"alias_kind":"arxiv_version","alias_value":"2005.07648v2","created_at":"2026-07-05T02:56:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.07648","created_at":"2026-07-05T02:56:03Z"},{"alias_kind":"pith_short_12","alias_value":"NULYOBOZSE2J","created_at":"2026-07-05T02:56:03Z"},{"alias_kind":"pith_short_16","alias_value":"NULYOBOZSE2JMUV3","created_at":"2026-07-05T02:56:03Z"},{"alias_kind":"pith_short_8","alias_value":"NULYOBOZ","created_at":"2026-07-05T02:56:03Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:NULYOBOZSE2JMUV3EMYMUUSAZC","target":"record","payload":{"canonical_record":{"source":{"id":"2005.07648","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-15T17:08:50Z","cross_cats_sorted":["cs.AI","cs.CL","cs.CV"],"title_canon_sha256":"89bdcdd70b6c7da974426dc4d5a7aa945601ec0987ef77ff73264c5d7dcf72b7","abstract_canon_sha256":"0f483bdc9b0fda5c4681879948a6bbaeb9ae07092ae98d32159bd33bf0d8e4d3"},"schema_version":"1.0"},"canonical_sha256":"6d178705d991349652bb2330ca5240c8a5925e5957d4da2d8e5ff70d07705b7a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:56:03.582893Z","signature_b64":"9yZiUrsMh2vbKQLsMENAhoNIGpMzPutfUgA5/jcWdGaIE2uLsQ9x+v3QUH+mDE0M33SwfrsVRlUCmujAetkAAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6d178705d991349652bb2330ca5240c8a5925e5957d4da2d8e5ff70d07705b7a","last_reissued_at":"2026-07-05T02:56:03.582360Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:56:03.582360Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2005.07648","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":"2026-07-05T02:56:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bSVXLUfJUONsF6eDdCjfMT3PKJzo2sUQRToHijHytsu2S8jvBz6XxRbByFaDfQ7KvWhx1XGOJ+id3LUXzqicCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T06:12:13.795644Z"},"content_sha256":"1798a24bdd28c5610229e2319fba33ea1237304b8660e991e802ef80f3eba45e","schema_version":"1.0","event_id":"sha256:1798a24bdd28c5610229e2319fba33ea1237304b8660e991e802ef80f3eba45e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:NULYOBOZSE2JMUV3EMYMUUSAZC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Language Conditioned Imitation Learning over Unstructured Data","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.CL","cs.CV"],"primary_cat":"cs.RO","authors_text":"Corey Lynch, Pierre Sermanet","submitted_at":"2020-05-15T17:08:50Z","abstract_excerpt":"Natural language is perhaps the most flexible and intuitive way for humans to communicate tasks to a robot. Prior work in imitation learning typically requires each task be specified with a task id or goal image -- something that is often impractical in open-world environments. On the other hand, previous approaches in instruction following allow agent behavior to be guided by language, but typically assume structure in the observations, actuators, or language that limit their applicability to complex settings like robotics. In this work, we present a method for incorporating free-form natural"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.07648","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/2005.07648/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":"2026-07-05T02:56:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JSx6zYxBNtOUzJONp9fEUrNCuNcuhJ/+JI8VOp0cecTPGAFzcd80qkh/0cTqIWJJcHhyRcq9yjzRSEqSNG2HAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T06:12:13.796151Z"},"content_sha256":"bcbbc3a159af6a91dd1cdd55c83e513635ce4f83e1f7cdd559ffd62f39f6c515","schema_version":"1.0","event_id":"sha256:bcbbc3a159af6a91dd1cdd55c83e513635ce4f83e1f7cdd559ffd62f39f6c515"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/NULYOBOZSE2JMUV3EMYMUUSAZC/bundle.json","state_url":"https://pith.science/pith/NULYOBOZSE2JMUV3EMYMUUSAZC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/NULYOBOZSE2JMUV3EMYMUUSAZC/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":"2026-08-23T06:12:13Z","links":{"resolver":"https://pith.science/pith/NULYOBOZSE2JMUV3EMYMUUSAZC","bundle":"https://pith.science/pith/NULYOBOZSE2JMUV3EMYMUUSAZC/bundle.json","state":"https://pith.science/pith/NULYOBOZSE2JMUV3EMYMUUSAZC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/NULYOBOZSE2JMUV3EMYMUUSAZC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:NULYOBOZSE2JMUV3EMYMUUSAZC","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":"0f483bdc9b0fda5c4681879948a6bbaeb9ae07092ae98d32159bd33bf0d8e4d3","cross_cats_sorted":["cs.AI","cs.CL","cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-15T17:08:50Z","title_canon_sha256":"89bdcdd70b6c7da974426dc4d5a7aa945601ec0987ef77ff73264c5d7dcf72b7"},"schema_version":"1.0","source":{"id":"2005.07648","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2005.07648","created_at":"2026-07-05T02:56:03Z"},{"alias_kind":"arxiv_version","alias_value":"2005.07648v2","created_at":"2026-07-05T02:56:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.07648","created_at":"2026-07-05T02:56:03Z"},{"alias_kind":"pith_short_12","alias_value":"NULYOBOZSE2J","created_at":"2026-07-05T02:56:03Z"},{"alias_kind":"pith_short_16","alias_value":"NULYOBOZSE2JMUV3","created_at":"2026-07-05T02:56:03Z"},{"alias_kind":"pith_short_8","alias_value":"NULYOBOZ","created_at":"2026-07-05T02:56:03Z"}],"graph_snapshots":[{"event_id":"sha256:bcbbc3a159af6a91dd1cdd55c83e513635ce4f83e1f7cdd559ffd62f39f6c515","target":"graph","created_at":"2026-07-05T02:56:03Z","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/2005.07648/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Natural language is perhaps the most flexible and intuitive way for humans to communicate tasks to a robot. Prior work in imitation learning typically requires each task be specified with a task id or goal image -- something that is often impractical in open-world environments. On the other hand, previous approaches in instruction following allow agent behavior to be guided by language, but typically assume structure in the observations, actuators, or language that limit their applicability to complex settings like robotics. In this work, we present a method for incorporating free-form natural","authors_text":"Corey Lynch, Pierre Sermanet","cross_cats":["cs.AI","cs.CL","cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-15T17:08:50Z","title":"Language Conditioned Imitation Learning over Unstructured Data"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.07648","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":"sha256:1798a24bdd28c5610229e2319fba33ea1237304b8660e991e802ef80f3eba45e","target":"record","created_at":"2026-07-05T02:56:03Z","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":"0f483bdc9b0fda5c4681879948a6bbaeb9ae07092ae98d32159bd33bf0d8e4d3","cross_cats_sorted":["cs.AI","cs.CL","cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-15T17:08:50Z","title_canon_sha256":"89bdcdd70b6c7da974426dc4d5a7aa945601ec0987ef77ff73264c5d7dcf72b7"},"schema_version":"1.0","source":{"id":"2005.07648","kind":"arxiv","version":2}},"canonical_sha256":"6d178705d991349652bb2330ca5240c8a5925e5957d4da2d8e5ff70d07705b7a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6d178705d991349652bb2330ca5240c8a5925e5957d4da2d8e5ff70d07705b7a","first_computed_at":"2026-07-05T02:56:03.582360Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:56:03.582360Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"9yZiUrsMh2vbKQLsMENAhoNIGpMzPutfUgA5/jcWdGaIE2uLsQ9x+v3QUH+mDE0M33SwfrsVRlUCmujAetkAAw==","signature_status":"signed_v1","signed_at":"2026-07-05T02:56:03.582893Z","signed_message":"canonical_sha256_bytes"},"source_id":"2005.07648","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1798a24bdd28c5610229e2319fba33ea1237304b8660e991e802ef80f3eba45e","sha256:bcbbc3a159af6a91dd1cdd55c83e513635ce4f83e1f7cdd559ffd62f39f6c515"],"state_sha256":"381097c0985f147c3587ec27edbc62e01beeee9fab4191768645d296832cfeb4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"G21udL/kORuPz74RR8EyjFip0q5+Jl72rgI8Oc/oQsLQYg0Q4eqzPDI/QGTqaEW5jabeFZUmUjoOQbkCjIzSCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-23T06:12:13.801071Z","bundle_sha256":"4f2fea0cfca0dd3ff6ef6c85e3f639554247b57ab84c0e48d99d63832b9b92ab"}}