{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:TX7GKLU6T3XZI4SRD6AMWB5RPG","short_pith_number":"pith:TX7GKLU6","canonical_record":{"source":{"id":"2508.18691","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-26T05:25:57Z","cross_cats_sorted":[],"title_canon_sha256":"ebe87e5639a3c05071a418590fa9a449367cd0b4b5073d2865162910d71c9a63","abstract_canon_sha256":"fe723fde4634bd5688487018eb8bd0ba0555cc182ad236f2325f383f3da8baa9"},"schema_version":"1.0"},"canonical_sha256":"9dfe652e9e9eef9472511f80cb07b1798e7dc6b7705c9de623fdbd73a9c90a9e","source":{"kind":"arxiv","id":"2508.18691","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.18691","created_at":"2026-07-05T11:59:29Z"},{"alias_kind":"arxiv_version","alias_value":"2508.18691v1","created_at":"2026-07-05T11:59:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.18691","created_at":"2026-07-05T11:59:29Z"},{"alias_kind":"pith_short_12","alias_value":"TX7GKLU6T3XZ","created_at":"2026-07-05T11:59:29Z"},{"alias_kind":"pith_short_16","alias_value":"TX7GKLU6T3XZI4SR","created_at":"2026-07-05T11:59:29Z"},{"alias_kind":"pith_short_8","alias_value":"TX7GKLU6","created_at":"2026-07-05T11:59:29Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:TX7GKLU6T3XZI4SRD6AMWB5RPG","target":"record","payload":{"canonical_record":{"source":{"id":"2508.18691","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-26T05:25:57Z","cross_cats_sorted":[],"title_canon_sha256":"ebe87e5639a3c05071a418590fa9a449367cd0b4b5073d2865162910d71c9a63","abstract_canon_sha256":"fe723fde4634bd5688487018eb8bd0ba0555cc182ad236f2325f383f3da8baa9"},"schema_version":"1.0"},"canonical_sha256":"9dfe652e9e9eef9472511f80cb07b1798e7dc6b7705c9de623fdbd73a9c90a9e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:59:29.325788Z","signature_b64":"euL2Q5ehSY5pNrrch8ff9hABiiVKTDFZQw5puK1CaSZhFkzw4/ZjHs5Mbbt78OYgqKTVR5eQPlcqdmE0o4UEAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9dfe652e9e9eef9472511f80cb07b1798e7dc6b7705c9de623fdbd73a9c90a9e","last_reissued_at":"2026-07-05T11:59:29.325374Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:59:29.325374Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2508.18691","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":"2026-07-05T11:59:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"s746o6Gx1t0o3GybjhL8q0ER2QlZtImV4Z0AJj+6UwV4gF3oMp3FWloXDU3/kjynn6qM+2+mppGulCzWhQIoDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T10:49:23.930855Z"},"content_sha256":"d519ed19e21100b722c14174819f5dc065b0fa510ab0cb4538932425de6e6cd0","schema_version":"1.0","event_id":"sha256:d519ed19e21100b722c14174819f5dc065b0fa510ab0cb4538932425de6e6cd0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:TX7GKLU6T3XZI4SRD6AMWB5RPG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Deep Sensorimotor Control by Imitating Predictive Models of Human Motion","license":"http://creativecommons.org/publicdomain/zero/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Antonio Loquercio, Himanshu Gaurav Singh, Jitendra Malik, Pieter Abbeel","submitted_at":"2025-08-26T05:25:57Z","abstract_excerpt":"As the embodiment gap between a robot and a human narrows, new opportunities arise to leverage datasets of humans interacting with their surroundings for robot learning. We propose a novel technique for training sensorimotor policies with reinforcement learning by imitating predictive models of human motions. Our key insight is that the motion of keypoints on human-inspired robot end-effectors closely mirrors the motion of corresponding human body keypoints. This enables us to use a model trained to predict future motion on human data \\emph{zero-shot} on robot data. We train sensorimotor polic"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.18691","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/2508.18691/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":"2026-07-05T11:59:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"F2CuivXRqLmhLKHin0VLfhcd8KwRqSdChCPdKdcpYVmG9kx9gxcadoqFv/VyejsDu9JwkDuWjlfPNAuNSdjqDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T10:49:23.931677Z"},"content_sha256":"d5c3f8d0faad31202156751dc317a83c51ec8db4ffa91c01b40327cacfd62aa0","schema_version":"1.0","event_id":"sha256:d5c3f8d0faad31202156751dc317a83c51ec8db4ffa91c01b40327cacfd62aa0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TX7GKLU6T3XZI4SRD6AMWB5RPG/bundle.json","state_url":"https://pith.science/pith/TX7GKLU6T3XZI4SRD6AMWB5RPG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TX7GKLU6T3XZI4SRD6AMWB5RPG/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":"2026-08-06T10:49:23Z","links":{"resolver":"https://pith.science/pith/TX7GKLU6T3XZI4SRD6AMWB5RPG","bundle":"https://pith.science/pith/TX7GKLU6T3XZI4SRD6AMWB5RPG/bundle.json","state":"https://pith.science/pith/TX7GKLU6T3XZI4SRD6AMWB5RPG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TX7GKLU6T3XZI4SRD6AMWB5RPG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:TX7GKLU6T3XZI4SRD6AMWB5RPG","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":"fe723fde4634bd5688487018eb8bd0ba0555cc182ad236f2325f383f3da8baa9","cross_cats_sorted":[],"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-26T05:25:57Z","title_canon_sha256":"ebe87e5639a3c05071a418590fa9a449367cd0b4b5073d2865162910d71c9a63"},"schema_version":"1.0","source":{"id":"2508.18691","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.18691","created_at":"2026-07-05T11:59:29Z"},{"alias_kind":"arxiv_version","alias_value":"2508.18691v1","created_at":"2026-07-05T11:59:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.18691","created_at":"2026-07-05T11:59:29Z"},{"alias_kind":"pith_short_12","alias_value":"TX7GKLU6T3XZ","created_at":"2026-07-05T11:59:29Z"},{"alias_kind":"pith_short_16","alias_value":"TX7GKLU6T3XZI4SR","created_at":"2026-07-05T11:59:29Z"},{"alias_kind":"pith_short_8","alias_value":"TX7GKLU6","created_at":"2026-07-05T11:59:29Z"}],"graph_snapshots":[{"event_id":"sha256:d5c3f8d0faad31202156751dc317a83c51ec8db4ffa91c01b40327cacfd62aa0","target":"graph","created_at":"2026-07-05T11:59:29Z","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/2508.18691/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"As the embodiment gap between a robot and a human narrows, new opportunities arise to leverage datasets of humans interacting with their surroundings for robot learning. We propose a novel technique for training sensorimotor policies with reinforcement learning by imitating predictive models of human motions. Our key insight is that the motion of keypoints on human-inspired robot end-effectors closely mirrors the motion of corresponding human body keypoints. This enables us to use a model trained to predict future motion on human data \\emph{zero-shot} on robot data. We train sensorimotor polic","authors_text":"Antonio Loquercio, Himanshu Gaurav Singh, Jitendra Malik, Pieter Abbeel","cross_cats":[],"headline":"","license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-26T05:25:57Z","title":"Deep Sensorimotor Control by Imitating Predictive Models of Human Motion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.18691","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:d519ed19e21100b722c14174819f5dc065b0fa510ab0cb4538932425de6e6cd0","target":"record","created_at":"2026-07-05T11:59:29Z","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":"fe723fde4634bd5688487018eb8bd0ba0555cc182ad236f2325f383f3da8baa9","cross_cats_sorted":[],"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-26T05:25:57Z","title_canon_sha256":"ebe87e5639a3c05071a418590fa9a449367cd0b4b5073d2865162910d71c9a63"},"schema_version":"1.0","source":{"id":"2508.18691","kind":"arxiv","version":1}},"canonical_sha256":"9dfe652e9e9eef9472511f80cb07b1798e7dc6b7705c9de623fdbd73a9c90a9e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9dfe652e9e9eef9472511f80cb07b1798e7dc6b7705c9de623fdbd73a9c90a9e","first_computed_at":"2026-07-05T11:59:29.325374Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:59:29.325374Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"euL2Q5ehSY5pNrrch8ff9hABiiVKTDFZQw5puK1CaSZhFkzw4/ZjHs5Mbbt78OYgqKTVR5eQPlcqdmE0o4UEAA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:59:29.325788Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.18691","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d519ed19e21100b722c14174819f5dc065b0fa510ab0cb4538932425de6e6cd0","sha256:d5c3f8d0faad31202156751dc317a83c51ec8db4ffa91c01b40327cacfd62aa0"],"state_sha256":"8d57f2a6fd1257b356ea0b521b6869cb9cac18c67def76e073865161b1a09811"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"NK6gcwquF6HRyETmKopZRkiyRlXrTjQnZLQ8gdKgHU2/9KU5kH1I/hiEREcwZMDe5YRrng8D0u8N4q3nkIGECQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T10:49:23.938195Z","bundle_sha256":"c46055e619764077dc0b026c0b3889a5d1f00a679a0bb8cb9d6252529a3b385c"}}