{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:U3XEHKSPUUCARNEXSEHQTFWBGA","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":"bbb5a5041c24b76df1f943332df5de9063d38fb311cabce08200187485d5c95b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-20T15:20:37Z","title_canon_sha256":"b40140e57dd5c02f943d8d264f7765ae5b6e79d8566c306e78c5b854c4a67d1b"},"schema_version":"1.0","source":{"id":"2210.11339","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.11339","created_at":"2026-07-05T05:49:15Z"},{"alias_kind":"arxiv_version","alias_value":"2210.11339v2","created_at":"2026-07-05T05:49:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.11339","created_at":"2026-07-05T05:49:15Z"},{"alias_kind":"pith_short_12","alias_value":"U3XEHKSPUUCA","created_at":"2026-07-05T05:49:15Z"},{"alias_kind":"pith_short_16","alias_value":"U3XEHKSPUUCARNEX","created_at":"2026-07-05T05:49:15Z"},{"alias_kind":"pith_short_8","alias_value":"U3XEHKSP","created_at":"2026-07-05T05:49:15Z"}],"graph_snapshots":[{"event_id":"sha256:4d5f5ec2d76eb501070c38a7f05b4b08f4c7f381b5a169dd108435094c400ddd","target":"graph","created_at":"2026-07-05T05:49:15Z","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/2210.11339/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We introduce VIOLA, an object-centric imitation learning approach to learning closed-loop visuomotor policies for robot manipulation. Our approach constructs object-centric representations based on general object proposals from a pre-trained vision model. VIOLA uses a transformer-based policy to reason over these representations and attend to the task-relevant visual factors for action prediction. Such object-based structural priors improve deep imitation learning algorithm's robustness against object variations and environmental perturbations. We quantitatively evaluate VIOLA in simulation an","authors_text":"Abhishek Joshi, Peter Stone, Yifeng Zhu, Yuke Zhu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-20T15:20:37Z","title":"VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.11339","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":"sha256:3cfb4387465ec39f659717a731a7669a096dc414d362c9a27f7f2663de08dc2a","target":"record","created_at":"2026-07-05T05:49:15Z","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":"bbb5a5041c24b76df1f943332df5de9063d38fb311cabce08200187485d5c95b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-20T15:20:37Z","title_canon_sha256":"b40140e57dd5c02f943d8d264f7765ae5b6e79d8566c306e78c5b854c4a67d1b"},"schema_version":"1.0","source":{"id":"2210.11339","kind":"arxiv","version":2}},"canonical_sha256":"a6ee43aa4fa50408b497910f0996c1303149a77ac865638c25f09e792598e9aa","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a6ee43aa4fa50408b497910f0996c1303149a77ac865638c25f09e792598e9aa","first_computed_at":"2026-07-05T05:49:15.063782Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:49:15.063782Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3Y86W4oeaksHHeWNAJh77vAQJKtvPNlh3rzz85hZadhcsu+Xfo0sdt81ly5mkZEh6/HIz9g6R3UBPtVmZfJSDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T05:49:15.064282Z","signed_message":"canonical_sha256_bytes"},"source_id":"2210.11339","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3cfb4387465ec39f659717a731a7669a096dc414d362c9a27f7f2663de08dc2a","sha256:4d5f5ec2d76eb501070c38a7f05b4b08f4c7f381b5a169dd108435094c400ddd"],"state_sha256":"f99ebd00c3439aebd598c856c134fa0aeac4925bd7e0e31daa5cb62e3e5ed701"}