{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:UTWOCQGK2G5DW576GNRBNYMRNX","short_pith_number":"pith:UTWOCQGK","canonical_record":{"source":{"id":"2605.14598","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-14T09:06:01Z","cross_cats_sorted":[],"title_canon_sha256":"2677bbf088ecd11a80ebaa327af21c481ef6e1f7b630676509415aff6d761b4a","abstract_canon_sha256":"10b5012a2dac93ab492cb5e02cb563d755c46bd289eb3cfcef86a28963d9a243"},"schema_version":"1.0"},"canonical_sha256":"a4ece140cad1ba3b77fe336216e1916dc4f837df35568f1ace3c9df57e4da7a3","source":{"kind":"arxiv","id":"2605.14598","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.14598","created_at":"2026-05-17T23:39:04Z"},{"alias_kind":"arxiv_version","alias_value":"2605.14598v1","created_at":"2026-05-17T23:39:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.14598","created_at":"2026-05-17T23:39:04Z"},{"alias_kind":"pith_short_12","alias_value":"UTWOCQGK2G5D","created_at":"2026-05-18T12:33:37Z"},{"alias_kind":"pith_short_16","alias_value":"UTWOCQGK2G5DW576","created_at":"2026-05-18T12:33:37Z"},{"alias_kind":"pith_short_8","alias_value":"UTWOCQGK","created_at":"2026-05-18T12:33:37Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:UTWOCQGK2G5DW576GNRBNYMRNX","target":"record","payload":{"canonical_record":{"source":{"id":"2605.14598","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-14T09:06:01Z","cross_cats_sorted":[],"title_canon_sha256":"2677bbf088ecd11a80ebaa327af21c481ef6e1f7b630676509415aff6d761b4a","abstract_canon_sha256":"10b5012a2dac93ab492cb5e02cb563d755c46bd289eb3cfcef86a28963d9a243"},"schema_version":"1.0"},"canonical_sha256":"a4ece140cad1ba3b77fe336216e1916dc4f837df35568f1ace3c9df57e4da7a3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:39:04.282181Z","signature_b64":"An0NjITdLtFloz6Swlsec1KClmRJ4EMdqjoSgRt5c2ulgfuPq1w39YUJKLLVCKPrqe4CzTVkskJZuEl6RQ//Ag==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a4ece140cad1ba3b77fe336216e1916dc4f837df35568f1ace3c9df57e4da7a3","last_reissued_at":"2026-05-17T23:39:04.281550Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:39:04.281550Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.14598","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":"2026-05-17T23:39:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"o03JX88ELC8Wdyza2DXqeuK7bTczxZXEyEB/tNPXkXByF4GuOx9W/AJAQ35Ms/JxTESLwxK7d3W4c5rq/gMtAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T05:37:46.064754Z"},"content_sha256":"83d4c33e506eee5d818b8b98824ada006b42d657bc27ce0265a8be65381f976f","schema_version":"1.0","event_id":"sha256:83d4c33e506eee5d818b8b98824ada006b42d657bc27ce0265a8be65381f976f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:UTWOCQGK2G5DW576GNRBNYMRNX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DSSP: Diffusion State Space Policy with Full-History Encoding","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Han Fang, Jianshu Hu, Shujia Li, Xiao Li, Yize Huang, Yunpeng Jiang, Yutong Ban, Zhiyuan Guan","submitted_at":"2026-05-14T09:06:01Z","abstract_excerpt":"Diffusion-based imitation learning has shown strong promise for robot manipulation. However, most existing policies condition only on the current observation or a short window of recent observations, limiting their ability to resolve history-dependent ambiguities in long-horizon tasks. To address this, we introduce DSSP, a history-conditioned Diffusion State Space Policy that enables efficient, full-history conditioning for robot manipulation. Leveraging the continuous sequence modeling properties of State Space Models (SSMs), our history encoder effectively compresses the entire observation s"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.14598","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":""},"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":"2026-05-17T23:39:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EDD6ICNs9VowS2BxTi/ZhRu5bTXioklxd5zy5IBQUEl4uF/lWSJ+1uCYCBAEM0vlmgfq9YmpH0T009qf6BO4AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T05:37:46.065140Z"},"content_sha256":"a68b0906a9384db171a742618acc8014f3744dbcb238ee28e615ba4966ace3e0","schema_version":"1.0","event_id":"sha256:a68b0906a9384db171a742618acc8014f3744dbcb238ee28e615ba4966ace3e0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UTWOCQGK2G5DW576GNRBNYMRNX/bundle.json","state_url":"https://pith.science/pith/UTWOCQGK2G5DW576GNRBNYMRNX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UTWOCQGK2G5DW576GNRBNYMRNX/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":"2026-05-26T05:37:46Z","links":{"resolver":"https://pith.science/pith/UTWOCQGK2G5DW576GNRBNYMRNX","bundle":"https://pith.science/pith/UTWOCQGK2G5DW576GNRBNYMRNX/bundle.json","state":"https://pith.science/pith/UTWOCQGK2G5DW576GNRBNYMRNX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UTWOCQGK2G5DW576GNRBNYMRNX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:UTWOCQGK2G5DW576GNRBNYMRNX","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":"10b5012a2dac93ab492cb5e02cb563d755c46bd289eb3cfcef86a28963d9a243","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-14T09:06:01Z","title_canon_sha256":"2677bbf088ecd11a80ebaa327af21c481ef6e1f7b630676509415aff6d761b4a"},"schema_version":"1.0","source":{"id":"2605.14598","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.14598","created_at":"2026-05-17T23:39:04Z"},{"alias_kind":"arxiv_version","alias_value":"2605.14598v1","created_at":"2026-05-17T23:39:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.14598","created_at":"2026-05-17T23:39:04Z"},{"alias_kind":"pith_short_12","alias_value":"UTWOCQGK2G5D","created_at":"2026-05-18T12:33:37Z"},{"alias_kind":"pith_short_16","alias_value":"UTWOCQGK2G5DW576","created_at":"2026-05-18T12:33:37Z"},{"alias_kind":"pith_short_8","alias_value":"UTWOCQGK","created_at":"2026-05-18T12:33:37Z"}],"graph_snapshots":[{"event_id":"sha256:a68b0906a9384db171a742618acc8014f3744dbcb238ee28e615ba4966ace3e0","target":"graph","created_at":"2026-05-17T23:39:04Z","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"},"paper":{"abstract_excerpt":"Diffusion-based imitation learning has shown strong promise for robot manipulation. However, most existing policies condition only on the current observation or a short window of recent observations, limiting their ability to resolve history-dependent ambiguities in long-horizon tasks. To address this, we introduce DSSP, a history-conditioned Diffusion State Space Policy that enables efficient, full-history conditioning for robot manipulation. Leveraging the continuous sequence modeling properties of State Space Models (SSMs), our history encoder effectively compresses the entire observation s","authors_text":"Han Fang, Jianshu Hu, Shujia Li, Xiao Li, Yize Huang, Yunpeng Jiang, Yutong Ban, Zhiyuan Guan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-14T09:06:01Z","title":"DSSP: Diffusion State Space Policy with Full-History Encoding"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.14598","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":"sha256:83d4c33e506eee5d818b8b98824ada006b42d657bc27ce0265a8be65381f976f","target":"record","created_at":"2026-05-17T23:39:04Z","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":"10b5012a2dac93ab492cb5e02cb563d755c46bd289eb3cfcef86a28963d9a243","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-14T09:06:01Z","title_canon_sha256":"2677bbf088ecd11a80ebaa327af21c481ef6e1f7b630676509415aff6d761b4a"},"schema_version":"1.0","source":{"id":"2605.14598","kind":"arxiv","version":1}},"canonical_sha256":"a4ece140cad1ba3b77fe336216e1916dc4f837df35568f1ace3c9df57e4da7a3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a4ece140cad1ba3b77fe336216e1916dc4f837df35568f1ace3c9df57e4da7a3","first_computed_at":"2026-05-17T23:39:04.281550Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:39:04.281550Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"An0NjITdLtFloz6Swlsec1KClmRJ4EMdqjoSgRt5c2ulgfuPq1w39YUJKLLVCKPrqe4CzTVkskJZuEl6RQ//Ag==","signature_status":"signed_v1","signed_at":"2026-05-17T23:39:04.282181Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.14598","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:83d4c33e506eee5d818b8b98824ada006b42d657bc27ce0265a8be65381f976f","sha256:a68b0906a9384db171a742618acc8014f3744dbcb238ee28e615ba4966ace3e0"],"state_sha256":"f848876542d7e0ffed69a61fe9e6c4ec432893325eda762caf7f8583f1f40356"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2DKjQBfNNncGAaPTQ5IQXbfTMt2lS06SZ5k8IY/CW1pOfFx3hd6NKCLGikUJqYWKqYRb1H9cB6Lu37UFXj0+Ag==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-26T05:37:46.069370Z","bundle_sha256":"1092c0acf3c2f433d8b5e530413eb98f27b8ad191579ae1bc6e4ff1e5696f054"}}