{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:UMWX7GHCQWUPVQXS3WNWXTGANL","short_pith_number":"pith:UMWX7GHC","canonical_record":{"source":{"id":"2606.09476","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T13:35:22Z","cross_cats_sorted":[],"title_canon_sha256":"f0aa6d153c81b0c92fb055278b49579541908dd291604ad66320210978ce0598","abstract_canon_sha256":"c998935a70c71344629a59e59428ce96c43046cda1ddbda5eebead95cb061599"},"schema_version":"1.0"},"canonical_sha256":"a32d7f98e285a8fac2f2dd9b6bccc06acb17b1d146cbd1a3b2ef5c5cd9226c9a","source":{"kind":"arxiv","id":"2606.09476","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.09476","created_at":"2026-06-09T02:08:50Z"},{"alias_kind":"arxiv_version","alias_value":"2606.09476v1","created_at":"2026-06-09T02:08:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.09476","created_at":"2026-06-09T02:08:50Z"},{"alias_kind":"pith_short_12","alias_value":"UMWX7GHCQWUP","created_at":"2026-06-09T02:08:50Z"},{"alias_kind":"pith_short_16","alias_value":"UMWX7GHCQWUPVQXS","created_at":"2026-06-09T02:08:50Z"},{"alias_kind":"pith_short_8","alias_value":"UMWX7GHC","created_at":"2026-06-09T02:08:50Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:UMWX7GHCQWUPVQXS3WNWXTGANL","target":"record","payload":{"canonical_record":{"source":{"id":"2606.09476","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T13:35:22Z","cross_cats_sorted":[],"title_canon_sha256":"f0aa6d153c81b0c92fb055278b49579541908dd291604ad66320210978ce0598","abstract_canon_sha256":"c998935a70c71344629a59e59428ce96c43046cda1ddbda5eebead95cb061599"},"schema_version":"1.0"},"canonical_sha256":"a32d7f98e285a8fac2f2dd9b6bccc06acb17b1d146cbd1a3b2ef5c5cd9226c9a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-09T02:08:50.593226Z","signature_b64":"rQvf3X/3SuzlSC/RCC7ueP8UuDa+siyU8ABz5TQ/FR0F9XPDBkInXwQ1t0iHfQKNDWBJbvaMRs1gBJs7gyNaAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a32d7f98e285a8fac2f2dd9b6bccc06acb17b1d146cbd1a3b2ef5c5cd9226c9a","last_reissued_at":"2026-06-09T02:08:50.592452Z","signature_status":"signed_v1","first_computed_at":"2026-06-09T02:08:50.592452Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.09476","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":"2026-06-09T02:08:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Kjo2Eo33WvMCxz+kixBtkCtKiPWOrSTJ3qoRwwX+FzQfOd7vyus27ufLtI9ttT8odfGQPY5j11yimkSYJgQRCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-03T16:48:41.300359Z"},"content_sha256":"6fb39481aed04cf671a624ad548288bcb149d053e4e768f15cb648e3ae4c8e0b","schema_version":"1.0","event_id":"sha256:6fb39481aed04cf671a624ad548288bcb149d053e4e768f15cb648e3ae4c8e0b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:UMWX7GHCQWUPVQXS3WNWXTGANL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Goal Sets, Not Goal States: Queryable Robot Goals through Goal-Set Hindsight Relabeling","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Carlos V\\'elez Garc\\'ia, Jorge Pomares, Miguel Cazorla","submitted_at":"2026-06-08T13:35:22Z","abstract_excerpt":"Hindsight relabeling usually turns achieved future states into exact goals, which can overconstrain offline robot learning when task success depends only on a subset of the state. We propose Goal-Set Hindsight Relabeling (GS-HER), a predicate-level generalization of HER in which achieved states certify query-defined goal sets rather than singleton goal states. A binary query specifies which variables define success, making the goal predicate an inference-time input while leaving the underlying offline GCRL algorithm unchanged. Across OGBench tasks and five offline goal-conditioned learners, GS"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.09476","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/2606.09476/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":"2026-06-09T02:08:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0OiG4EaNEkBhjmPS38QGWe5KgJWh//rLn0uLHztRi1PjOX+rtkMCCRAAYt+YD5VEqFm65/46H+1lNWQkJsfbAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-03T16:48:41.300731Z"},"content_sha256":"2416c79e75196150beb98cfbe9768695af78694c2318793a686d1de19db296d2","schema_version":"1.0","event_id":"sha256:2416c79e75196150beb98cfbe9768695af78694c2318793a686d1de19db296d2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UMWX7GHCQWUPVQXS3WNWXTGANL/bundle.json","state_url":"https://pith.science/pith/UMWX7GHCQWUPVQXS3WNWXTGANL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UMWX7GHCQWUPVQXS3WNWXTGANL/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":"2026-07-03T16:48:41Z","links":{"resolver":"https://pith.science/pith/UMWX7GHCQWUPVQXS3WNWXTGANL","bundle":"https://pith.science/pith/UMWX7GHCQWUPVQXS3WNWXTGANL/bundle.json","state":"https://pith.science/pith/UMWX7GHCQWUPVQXS3WNWXTGANL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UMWX7GHCQWUPVQXS3WNWXTGANL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:UMWX7GHCQWUPVQXS3WNWXTGANL","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":"c998935a70c71344629a59e59428ce96c43046cda1ddbda5eebead95cb061599","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T13:35:22Z","title_canon_sha256":"f0aa6d153c81b0c92fb055278b49579541908dd291604ad66320210978ce0598"},"schema_version":"1.0","source":{"id":"2606.09476","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.09476","created_at":"2026-06-09T02:08:50Z"},{"alias_kind":"arxiv_version","alias_value":"2606.09476v1","created_at":"2026-06-09T02:08:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.09476","created_at":"2026-06-09T02:08:50Z"},{"alias_kind":"pith_short_12","alias_value":"UMWX7GHCQWUP","created_at":"2026-06-09T02:08:50Z"},{"alias_kind":"pith_short_16","alias_value":"UMWX7GHCQWUPVQXS","created_at":"2026-06-09T02:08:50Z"},{"alias_kind":"pith_short_8","alias_value":"UMWX7GHC","created_at":"2026-06-09T02:08:50Z"}],"graph_snapshots":[{"event_id":"sha256:2416c79e75196150beb98cfbe9768695af78694c2318793a686d1de19db296d2","target":"graph","created_at":"2026-06-09T02:08:50Z","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/2606.09476/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Hindsight relabeling usually turns achieved future states into exact goals, which can overconstrain offline robot learning when task success depends only on a subset of the state. We propose Goal-Set Hindsight Relabeling (GS-HER), a predicate-level generalization of HER in which achieved states certify query-defined goal sets rather than singleton goal states. A binary query specifies which variables define success, making the goal predicate an inference-time input while leaving the underlying offline GCRL algorithm unchanged. Across OGBench tasks and five offline goal-conditioned learners, GS","authors_text":"Carlos V\\'elez Garc\\'ia, Jorge Pomares, Miguel Cazorla","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T13:35:22Z","title":"Goal Sets, Not Goal States: Queryable Robot Goals through Goal-Set Hindsight Relabeling"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.09476","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":"sha256:6fb39481aed04cf671a624ad548288bcb149d053e4e768f15cb648e3ae4c8e0b","target":"record","created_at":"2026-06-09T02:08:50Z","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":"c998935a70c71344629a59e59428ce96c43046cda1ddbda5eebead95cb061599","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T13:35:22Z","title_canon_sha256":"f0aa6d153c81b0c92fb055278b49579541908dd291604ad66320210978ce0598"},"schema_version":"1.0","source":{"id":"2606.09476","kind":"arxiv","version":1}},"canonical_sha256":"a32d7f98e285a8fac2f2dd9b6bccc06acb17b1d146cbd1a3b2ef5c5cd9226c9a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a32d7f98e285a8fac2f2dd9b6bccc06acb17b1d146cbd1a3b2ef5c5cd9226c9a","first_computed_at":"2026-06-09T02:08:50.592452Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-09T02:08:50.592452Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"rQvf3X/3SuzlSC/RCC7ueP8UuDa+siyU8ABz5TQ/FR0F9XPDBkInXwQ1t0iHfQKNDWBJbvaMRs1gBJs7gyNaAw==","signature_status":"signed_v1","signed_at":"2026-06-09T02:08:50.593226Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.09476","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6fb39481aed04cf671a624ad548288bcb149d053e4e768f15cb648e3ae4c8e0b","sha256:2416c79e75196150beb98cfbe9768695af78694c2318793a686d1de19db296d2"],"state_sha256":"a5fcddc14796324f5c406cdc5cae4a2b5bd87a76b471da45f5c2c46578b38edb"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ox3Ba7cJi6V8EZWV3rbVymJ8NDEWZdhyreED/1o+x8gO9IO+6EqkmzS4f8sVOpt9uZOLsmDXiJlmc3khbC76Cw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-03T16:48:41.302639Z","bundle_sha256":"b950a3d5aebdf894ef070e3d5290a820126e778e695cc5bcff790eb01e74d21b"}}