{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:SO4E7QCF32JKKOLR5VS3WBRVIX","short_pith_number":"pith:SO4E7QCF","canonical_record":{"source":{"id":"2506.23125","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-29T07:20:51Z","cross_cats_sorted":[],"title_canon_sha256":"5028b61b9fcc085f03563a6590474667249c6056316aa22c0366c9702a5cafc3","abstract_canon_sha256":"8cb75f347de7cbd4054ee37befacedc1f0c511ad5569c7bf3bba86b0fcffb5be"},"schema_version":"1.0"},"canonical_sha256":"93b84fc045de92a53971ed65bb063545edfa08cbc34b4c5bec65331623e7ec50","source":{"kind":"arxiv","id":"2506.23125","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.23125","created_at":"2026-07-05T11:29:16Z"},{"alias_kind":"arxiv_version","alias_value":"2506.23125v1","created_at":"2026-07-05T11:29:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.23125","created_at":"2026-07-05T11:29:16Z"},{"alias_kind":"pith_short_12","alias_value":"SO4E7QCF32JK","created_at":"2026-07-05T11:29:16Z"},{"alias_kind":"pith_short_16","alias_value":"SO4E7QCF32JKKOLR","created_at":"2026-07-05T11:29:16Z"},{"alias_kind":"pith_short_8","alias_value":"SO4E7QCF","created_at":"2026-07-05T11:29:16Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:SO4E7QCF32JKKOLR5VS3WBRVIX","target":"record","payload":{"canonical_record":{"source":{"id":"2506.23125","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-29T07:20:51Z","cross_cats_sorted":[],"title_canon_sha256":"5028b61b9fcc085f03563a6590474667249c6056316aa22c0366c9702a5cafc3","abstract_canon_sha256":"8cb75f347de7cbd4054ee37befacedc1f0c511ad5569c7bf3bba86b0fcffb5be"},"schema_version":"1.0"},"canonical_sha256":"93b84fc045de92a53971ed65bb063545edfa08cbc34b4c5bec65331623e7ec50","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:29:16.121147Z","signature_b64":"PxAowaKhBaPRBxcVr6zxWrX+gpkmkFbeMX36KT8/UYNSSnPB36Oh3NOnOrG1CdcDpmu1RxqVdoyxrJ/Fh61eBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"93b84fc045de92a53971ed65bb063545edfa08cbc34b4c5bec65331623e7ec50","last_reissued_at":"2026-07-05T11:29:16.120624Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:29:16.120624Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2506.23125","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":"2026-07-05T11:29:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Q3qehQzcbfR/AXRH+ctG9CXdRQOUFLbf+a28QgBL3OPzaZnwk3aaj3rg68afCqgBDdyv2yM0aAJixM/7/KVABw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T03:55:47.077128Z"},"content_sha256":"3fb3f4e01783f9c8da4105f455eef69a3d10b02899b03e7d8834951a4846b249","schema_version":"1.0","event_id":"sha256:3fb3f4e01783f9c8da4105f455eef69a3d10b02899b03e7d8834951a4846b249"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:SO4E7QCF32JKKOLR5VS3WBRVIX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Learning Motion Skills with Adaptive Assistive Curriculum Force in Humanoid Robots","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Buqing Nie, Haoyang Li, Huangxuan Lin, Yang Zhang, Yue Gao, Zhanxiang Cao","submitted_at":"2025-06-29T07:20:51Z","abstract_excerpt":"Learning policies for complex humanoid tasks remains both challenging and compelling. Inspired by how infants and athletes rely on external support--such as parental walkers or coach-applied guidance--to acquire skills like walking, dancing, and performing acrobatic flips, we propose A2CF: Adaptive Assistive Curriculum Force for humanoid motion learning. A2CF trains a dual-agent system, in which a dedicated assistive force agent applies state-dependent forces to guide the robot through difficult initial motions and gradually reduces assistance as the robot's proficiency improves. Across three "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.23125","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/2506.23125/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":"2026-07-05T11:29:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"a5aaBffoH7Sdi4TOvAPZWKjGorBOkEK0CTcddCqdx0NFMPi5XlYDICYyUaQggR5Ufuj+DRwNWcWyOe9v5EieDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T03:55:47.081464Z"},"content_sha256":"86bbfc01c0ad9133d2c9b936253839016417fbd530d5d6f59b7fdfb80cec4941","schema_version":"1.0","event_id":"sha256:86bbfc01c0ad9133d2c9b936253839016417fbd530d5d6f59b7fdfb80cec4941"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SO4E7QCF32JKKOLR5VS3WBRVIX/bundle.json","state_url":"https://pith.science/pith/SO4E7QCF32JKKOLR5VS3WBRVIX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SO4E7QCF32JKKOLR5VS3WBRVIX/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":"2026-08-07T03:55:47Z","links":{"resolver":"https://pith.science/pith/SO4E7QCF32JKKOLR5VS3WBRVIX","bundle":"https://pith.science/pith/SO4E7QCF32JKKOLR5VS3WBRVIX/bundle.json","state":"https://pith.science/pith/SO4E7QCF32JKKOLR5VS3WBRVIX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SO4E7QCF32JKKOLR5VS3WBRVIX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:SO4E7QCF32JKKOLR5VS3WBRVIX","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":"8cb75f347de7cbd4054ee37befacedc1f0c511ad5569c7bf3bba86b0fcffb5be","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-29T07:20:51Z","title_canon_sha256":"5028b61b9fcc085f03563a6590474667249c6056316aa22c0366c9702a5cafc3"},"schema_version":"1.0","source":{"id":"2506.23125","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.23125","created_at":"2026-07-05T11:29:16Z"},{"alias_kind":"arxiv_version","alias_value":"2506.23125v1","created_at":"2026-07-05T11:29:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.23125","created_at":"2026-07-05T11:29:16Z"},{"alias_kind":"pith_short_12","alias_value":"SO4E7QCF32JK","created_at":"2026-07-05T11:29:16Z"},{"alias_kind":"pith_short_16","alias_value":"SO4E7QCF32JKKOLR","created_at":"2026-07-05T11:29:16Z"},{"alias_kind":"pith_short_8","alias_value":"SO4E7QCF","created_at":"2026-07-05T11:29:16Z"}],"graph_snapshots":[{"event_id":"sha256:86bbfc01c0ad9133d2c9b936253839016417fbd530d5d6f59b7fdfb80cec4941","target":"graph","created_at":"2026-07-05T11:29:16Z","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/2506.23125/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Learning policies for complex humanoid tasks remains both challenging and compelling. Inspired by how infants and athletes rely on external support--such as parental walkers or coach-applied guidance--to acquire skills like walking, dancing, and performing acrobatic flips, we propose A2CF: Adaptive Assistive Curriculum Force for humanoid motion learning. A2CF trains a dual-agent system, in which a dedicated assistive force agent applies state-dependent forces to guide the robot through difficult initial motions and gradually reduces assistance as the robot's proficiency improves. Across three ","authors_text":"Buqing Nie, Haoyang Li, Huangxuan Lin, Yang Zhang, Yue Gao, Zhanxiang Cao","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-29T07:20:51Z","title":"Learning Motion Skills with Adaptive Assistive Curriculum Force in Humanoid Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.23125","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":"sha256:3fb3f4e01783f9c8da4105f455eef69a3d10b02899b03e7d8834951a4846b249","target":"record","created_at":"2026-07-05T11:29:16Z","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":"8cb75f347de7cbd4054ee37befacedc1f0c511ad5569c7bf3bba86b0fcffb5be","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-29T07:20:51Z","title_canon_sha256":"5028b61b9fcc085f03563a6590474667249c6056316aa22c0366c9702a5cafc3"},"schema_version":"1.0","source":{"id":"2506.23125","kind":"arxiv","version":1}},"canonical_sha256":"93b84fc045de92a53971ed65bb063545edfa08cbc34b4c5bec65331623e7ec50","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"93b84fc045de92a53971ed65bb063545edfa08cbc34b4c5bec65331623e7ec50","first_computed_at":"2026-07-05T11:29:16.120624Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:29:16.120624Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"PxAowaKhBaPRBxcVr6zxWrX+gpkmkFbeMX36KT8/UYNSSnPB36Oh3NOnOrG1CdcDpmu1RxqVdoyxrJ/Fh61eBg==","signature_status":"signed_v1","signed_at":"2026-07-05T11:29:16.121147Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.23125","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3fb3f4e01783f9c8da4105f455eef69a3d10b02899b03e7d8834951a4846b249","sha256:86bbfc01c0ad9133d2c9b936253839016417fbd530d5d6f59b7fdfb80cec4941"],"state_sha256":"c638b68247bce3966236fc2524695d57451712ee4a7119c1a416932ab47237ec"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KMnDTSUgt+BoOKenG48A1h/9I9iAnXD7JNePdmVM50rBcROksc3RIf07kBnsRmxXvusEB4s2kqKaJ02UiCgkCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T03:55:47.087341Z","bundle_sha256":"b1f4e8ea683776da18419992a463d92d5ae7dd2fe87698082f0f2e6552bca738"}}