{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:T4NAU24HC4BWSREW7EEP64FFCB","short_pith_number":"pith:T4NAU24H","canonical_record":{"source":{"id":"2010.09170","kind":"arxiv","version":5},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-19T02:02:21Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"5650b61dc8e490b71d34a354d3ae9e6872212aee884cb16818a2e460d4d48a73","abstract_canon_sha256":"09ffdbd077c9ff6a59cfdbefcc8ea7979095ee1e08dcaf03802c2de1317848ae"},"schema_version":"1.0"},"canonical_sha256":"9f1a0a6b871703694496f908ff70a5105808987d9a472e5276c575cbda02e816","source":{"kind":"arxiv","id":"2010.09170","version":5},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2010.09170","created_at":"2026-07-05T03:24:26Z"},{"alias_kind":"arxiv_version","alias_value":"2010.09170v5","created_at":"2026-07-05T03:24:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2010.09170","created_at":"2026-07-05T03:24:26Z"},{"alias_kind":"pith_short_12","alias_value":"T4NAU24HC4BW","created_at":"2026-07-05T03:24:26Z"},{"alias_kind":"pith_short_16","alias_value":"T4NAU24HC4BWSREW","created_at":"2026-07-05T03:24:26Z"},{"alias_kind":"pith_short_8","alias_value":"T4NAU24H","created_at":"2026-07-05T03:24:26Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:T4NAU24HC4BWSREW7EEP64FFCB","target":"record","payload":{"canonical_record":{"source":{"id":"2010.09170","kind":"arxiv","version":5},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-19T02:02:21Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"5650b61dc8e490b71d34a354d3ae9e6872212aee884cb16818a2e460d4d48a73","abstract_canon_sha256":"09ffdbd077c9ff6a59cfdbefcc8ea7979095ee1e08dcaf03802c2de1317848ae"},"schema_version":"1.0"},"canonical_sha256":"9f1a0a6b871703694496f908ff70a5105808987d9a472e5276c575cbda02e816","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:24:26.839169Z","signature_b64":"QZ1SqOM3gjIgeztSCMSyIaC6QHzdIb6DtFK8Gj/8O6PAN4mugnHnZaurA65WwLRhHgHuFxDKEuqI8F8D8x+VDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9f1a0a6b871703694496f908ff70a5105808987d9a472e5276c575cbda02e816","last_reissued_at":"2026-07-05T03:24:26.838696Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:24:26.838696Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2010.09170","source_version":5,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T03:24:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"N3uIG0aVJNPpGAumQbkkyzqoS8Nw4Q/S9Gj4hR/J4G+ilhmsqPaxSeFGXz7CO/a5sFaFXNJ40ybUEq839lIxAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T14:11:59.357650Z"},"content_sha256":"3bff196f20a4ed21794c4ee0b6ef470fa231215ae3219e1df6b71d04677405d7","schema_version":"1.0","event_id":"sha256:3bff196f20a4ed21794c4ee0b6ef470fa231215ae3219e1df6b71d04677405d7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:T4NAU24HC4BWSREW7EEP64FFCB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Belief-Grounded Networks for Accelerated Robot Learning under Partial Observability","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Brett Daley, Christopher Amato, Hai Nguyen, Robert Platt, Xinchao Song","submitted_at":"2020-10-19T02:02:21Z","abstract_excerpt":"Many important robotics problems are partially observable in the sense that a single visual or force-feedback measurement is insufficient to reconstruct the state. Standard approaches involve learning a policy over beliefs or observation-action histories. However, both of these have drawbacks; it is expensive to track the belief online, and it is hard to learn policies directly over histories. We propose a method for policy learning under partial observability called the Belief-Grounded Network (BGN) in which an auxiliary belief-reconstruction loss incentivizes a neural network to concisely su"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2010.09170","kind":"arxiv","version":5},"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/2010.09170/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":"2026-07-05T03:24:26Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CxwqRiiHsaDRAW9ZpKnSEg2g+u4BWO7wWeemUDq8hickdh0QEN29pO9oT9rIMIlNSBjhp52uW9dIf7iK6JQyBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T14:11:59.358341Z"},"content_sha256":"979748701c30106fc44d4748269e4cefe7b9eb0f5bbd0dc5b950ccab5f9687b6","schema_version":"1.0","event_id":"sha256:979748701c30106fc44d4748269e4cefe7b9eb0f5bbd0dc5b950ccab5f9687b6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/T4NAU24HC4BWSREW7EEP64FFCB/bundle.json","state_url":"https://pith.science/pith/T4NAU24HC4BWSREW7EEP64FFCB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/T4NAU24HC4BWSREW7EEP64FFCB/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":"2026-07-05T14:11:59Z","links":{"resolver":"https://pith.science/pith/T4NAU24HC4BWSREW7EEP64FFCB","bundle":"https://pith.science/pith/T4NAU24HC4BWSREW7EEP64FFCB/bundle.json","state":"https://pith.science/pith/T4NAU24HC4BWSREW7EEP64FFCB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/T4NAU24HC4BWSREW7EEP64FFCB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:T4NAU24HC4BWSREW7EEP64FFCB","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":"09ffdbd077c9ff6a59cfdbefcc8ea7979095ee1e08dcaf03802c2de1317848ae","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-19T02:02:21Z","title_canon_sha256":"5650b61dc8e490b71d34a354d3ae9e6872212aee884cb16818a2e460d4d48a73"},"schema_version":"1.0","source":{"id":"2010.09170","kind":"arxiv","version":5}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2010.09170","created_at":"2026-07-05T03:24:26Z"},{"alias_kind":"arxiv_version","alias_value":"2010.09170v5","created_at":"2026-07-05T03:24:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2010.09170","created_at":"2026-07-05T03:24:26Z"},{"alias_kind":"pith_short_12","alias_value":"T4NAU24HC4BW","created_at":"2026-07-05T03:24:26Z"},{"alias_kind":"pith_short_16","alias_value":"T4NAU24HC4BWSREW","created_at":"2026-07-05T03:24:26Z"},{"alias_kind":"pith_short_8","alias_value":"T4NAU24H","created_at":"2026-07-05T03:24:26Z"}],"graph_snapshots":[{"event_id":"sha256:979748701c30106fc44d4748269e4cefe7b9eb0f5bbd0dc5b950ccab5f9687b6","target":"graph","created_at":"2026-07-05T03:24:26Z","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/2010.09170/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Many important robotics problems are partially observable in the sense that a single visual or force-feedback measurement is insufficient to reconstruct the state. Standard approaches involve learning a policy over beliefs or observation-action histories. However, both of these have drawbacks; it is expensive to track the belief online, and it is hard to learn policies directly over histories. We propose a method for policy learning under partial observability called the Belief-Grounded Network (BGN) in which an auxiliary belief-reconstruction loss incentivizes a neural network to concisely su","authors_text":"Brett Daley, Christopher Amato, Hai Nguyen, Robert Platt, Xinchao Song","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-19T02:02:21Z","title":"Belief-Grounded Networks for Accelerated Robot Learning under Partial Observability"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2010.09170","kind":"arxiv","version":5},"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":"sha256:3bff196f20a4ed21794c4ee0b6ef470fa231215ae3219e1df6b71d04677405d7","target":"record","created_at":"2026-07-05T03:24:26Z","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":"09ffdbd077c9ff6a59cfdbefcc8ea7979095ee1e08dcaf03802c2de1317848ae","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-19T02:02:21Z","title_canon_sha256":"5650b61dc8e490b71d34a354d3ae9e6872212aee884cb16818a2e460d4d48a73"},"schema_version":"1.0","source":{"id":"2010.09170","kind":"arxiv","version":5}},"canonical_sha256":"9f1a0a6b871703694496f908ff70a5105808987d9a472e5276c575cbda02e816","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9f1a0a6b871703694496f908ff70a5105808987d9a472e5276c575cbda02e816","first_computed_at":"2026-07-05T03:24:26.838696Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:24:26.838696Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"QZ1SqOM3gjIgeztSCMSyIaC6QHzdIb6DtFK8Gj/8O6PAN4mugnHnZaurA65WwLRhHgHuFxDKEuqI8F8D8x+VDg==","signature_status":"signed_v1","signed_at":"2026-07-05T03:24:26.839169Z","signed_message":"canonical_sha256_bytes"},"source_id":"2010.09170","source_kind":"arxiv","source_version":5}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3bff196f20a4ed21794c4ee0b6ef470fa231215ae3219e1df6b71d04677405d7","sha256:979748701c30106fc44d4748269e4cefe7b9eb0f5bbd0dc5b950ccab5f9687b6"],"state_sha256":"681ef67cf962b87a42e688fd50bf530d5f821786938915f64ed417c7805bcd12"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"J+iQF6uWKtoNbYdpqPr2j+QXldcDuzo8nuSvXVAPxq4agdEG3knYO8oYX1ax2GgOXckwR/+wQZ3EAcU0T1MaDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-05T14:11:59.362719Z","bundle_sha256":"53c408417a4f40c8816c6d52ef896f93e766f8d830d7708dda2782f38660a76a"}}