{"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"}