{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:QOBUT3NOOZOCGOCDP7XZLZ2TY5","short_pith_number":"pith:QOBUT3NO","canonical_record":{"source":{"id":"2403.05110","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T07:15:38Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"de3c09f9e39e1f1fadbe9fa02d7fc6bd5b18e2193b9701bb57cb43dd2e7a277c","abstract_canon_sha256":"946cc45c6887686f02bfc8265710d0a841e5ae3905abcdfe2edb602bbd299811"},"schema_version":"1.0"},"canonical_sha256":"838349edae765c2338437fef95e753c75a773e0a6825439861cc965627f3e580","source":{"kind":"arxiv","id":"2403.05110","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.05110","created_at":"2026-07-05T08:21:14Z"},{"alias_kind":"arxiv_version","alias_value":"2403.05110v2","created_at":"2026-07-05T08:21:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.05110","created_at":"2026-07-05T08:21:14Z"},{"alias_kind":"pith_short_12","alias_value":"QOBUT3NOOZOC","created_at":"2026-07-05T08:21:14Z"},{"alias_kind":"pith_short_16","alias_value":"QOBUT3NOOZOCGOCD","created_at":"2026-07-05T08:21:14Z"},{"alias_kind":"pith_short_8","alias_value":"QOBUT3NO","created_at":"2026-07-05T08:21:14Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:QOBUT3NOOZOCGOCDP7XZLZ2TY5","target":"record","payload":{"canonical_record":{"source":{"id":"2403.05110","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T07:15:38Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"de3c09f9e39e1f1fadbe9fa02d7fc6bd5b18e2193b9701bb57cb43dd2e7a277c","abstract_canon_sha256":"946cc45c6887686f02bfc8265710d0a841e5ae3905abcdfe2edb602bbd299811"},"schema_version":"1.0"},"canonical_sha256":"838349edae765c2338437fef95e753c75a773e0a6825439861cc965627f3e580","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:21:14.345269Z","signature_b64":"gd1m7f/B6uxczYQ9v3eJqcLjDNUZEwFm0uOo7bPd+0BJotB2jKlYvQLZwUgOLnr8d16igUk6knhaPotmEj64Cg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"838349edae765c2338437fef95e753c75a773e0a6825439861cc965627f3e580","last_reissued_at":"2026-07-05T08:21:14.344806Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:21:14.344806Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.05110","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":"2026-07-05T08:21:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TGnkxxmgf/Ub1O4QeBl/jI0j6QrGyZXWIUcE5I/T4cC5UuORDpqKT7dxTRjhh9VpmVsLyJE1gLuvoRWIBQ0CBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T23:52:16.218630Z"},"content_sha256":"f023c91ee1238b2f6595711ac4c00ebb6fe3dcd3f4f5ef8278b69c4d002e0c5b","schema_version":"1.0","event_id":"sha256:f023c91ee1238b2f6595711ac4c00ebb6fe3dcd3f4f5ef8278b69c4d002e0c5b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:QOBUT3NOOZOCGOCDP7XZLZ2TY5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Efficient Data Collection for Robotic Manipulation via Compositional Generalization","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Annie Xie, Chelsea Finn, Dorsa Sadigh, Jensen Gao, Ted Xiao","submitted_at":"2024-03-08T07:15:38Z","abstract_excerpt":"Data collection has become an increasingly important problem in robotic manipulation, yet there still lacks much understanding of how to effectively collect data to facilitate broad generalization. Recent works on large-scale robotic data collection typically vary many environmental factors of variation (e.g., object types, table textures) during data collection, to cover a diverse range of scenarios. However, they do not explicitly account for the possible compositional abilities of policies trained on the data. If robot policies can compose environmental factors from their data to succeed wh"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.05110","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/2403.05110/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":"2026-07-05T08:21:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Te5wLvN7/mvoIjDtNuDfgkeL7gtLn7Z8DX0GYjllkXl028EyLg71AiurT5ZWBlHyUyQtR44lqm+GoAt9vVA7CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T23:52:16.219147Z"},"content_sha256":"2561d45391387154ffac31ded950c0e572290d1b0095040c07fb140d36d8f8d6","schema_version":"1.0","event_id":"sha256:2561d45391387154ffac31ded950c0e572290d1b0095040c07fb140d36d8f8d6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/QOBUT3NOOZOCGOCDP7XZLZ2TY5/bundle.json","state_url":"https://pith.science/pith/QOBUT3NOOZOCGOCDP7XZLZ2TY5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/QOBUT3NOOZOCGOCDP7XZLZ2TY5/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":"2026-08-07T23:52:16Z","links":{"resolver":"https://pith.science/pith/QOBUT3NOOZOCGOCDP7XZLZ2TY5","bundle":"https://pith.science/pith/QOBUT3NOOZOCGOCDP7XZLZ2TY5/bundle.json","state":"https://pith.science/pith/QOBUT3NOOZOCGOCDP7XZLZ2TY5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/QOBUT3NOOZOCGOCDP7XZLZ2TY5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:QOBUT3NOOZOCGOCDP7XZLZ2TY5","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":"946cc45c6887686f02bfc8265710d0a841e5ae3905abcdfe2edb602bbd299811","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T07:15:38Z","title_canon_sha256":"de3c09f9e39e1f1fadbe9fa02d7fc6bd5b18e2193b9701bb57cb43dd2e7a277c"},"schema_version":"1.0","source":{"id":"2403.05110","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.05110","created_at":"2026-07-05T08:21:14Z"},{"alias_kind":"arxiv_version","alias_value":"2403.05110v2","created_at":"2026-07-05T08:21:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.05110","created_at":"2026-07-05T08:21:14Z"},{"alias_kind":"pith_short_12","alias_value":"QOBUT3NOOZOC","created_at":"2026-07-05T08:21:14Z"},{"alias_kind":"pith_short_16","alias_value":"QOBUT3NOOZOCGOCD","created_at":"2026-07-05T08:21:14Z"},{"alias_kind":"pith_short_8","alias_value":"QOBUT3NO","created_at":"2026-07-05T08:21:14Z"}],"graph_snapshots":[{"event_id":"sha256:2561d45391387154ffac31ded950c0e572290d1b0095040c07fb140d36d8f8d6","target":"graph","created_at":"2026-07-05T08:21:14Z","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/2403.05110/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Data collection has become an increasingly important problem in robotic manipulation, yet there still lacks much understanding of how to effectively collect data to facilitate broad generalization. Recent works on large-scale robotic data collection typically vary many environmental factors of variation (e.g., object types, table textures) during data collection, to cover a diverse range of scenarios. However, they do not explicitly account for the possible compositional abilities of policies trained on the data. If robot policies can compose environmental factors from their data to succeed wh","authors_text":"Annie Xie, Chelsea Finn, Dorsa Sadigh, Jensen Gao, Ted Xiao","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T07:15:38Z","title":"Efficient Data Collection for Robotic Manipulation via Compositional Generalization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.05110","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:f023c91ee1238b2f6595711ac4c00ebb6fe3dcd3f4f5ef8278b69c4d002e0c5b","target":"record","created_at":"2026-07-05T08:21:14Z","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":"946cc45c6887686f02bfc8265710d0a841e5ae3905abcdfe2edb602bbd299811","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T07:15:38Z","title_canon_sha256":"de3c09f9e39e1f1fadbe9fa02d7fc6bd5b18e2193b9701bb57cb43dd2e7a277c"},"schema_version":"1.0","source":{"id":"2403.05110","kind":"arxiv","version":2}},"canonical_sha256":"838349edae765c2338437fef95e753c75a773e0a6825439861cc965627f3e580","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"838349edae765c2338437fef95e753c75a773e0a6825439861cc965627f3e580","first_computed_at":"2026-07-05T08:21:14.344806Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:21:14.344806Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"gd1m7f/B6uxczYQ9v3eJqcLjDNUZEwFm0uOo7bPd+0BJotB2jKlYvQLZwUgOLnr8d16igUk6knhaPotmEj64Cg==","signature_status":"signed_v1","signed_at":"2026-07-05T08:21:14.345269Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.05110","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f023c91ee1238b2f6595711ac4c00ebb6fe3dcd3f4f5ef8278b69c4d002e0c5b","sha256:2561d45391387154ffac31ded950c0e572290d1b0095040c07fb140d36d8f8d6"],"state_sha256":"7d7480d8ef837a4fc8359bd783580079a207b7559226db3ee6ac071da0254313"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xvRNGF09rhP+xFH2AB8URuEss/i2vny/FF9exL69xn38APmHVfQcf8yK5fF55ABg8Fjs6IHbN7Z37I+1+JE/BQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T23:52:16.223068Z","bundle_sha256":"ba9c72c3d37582a0f048145e8a7ff4b12a9aed3ce00adc3b1a0ba38578ec7967"}}