{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:UXXFMW7ZBWHVLK4E2UATZMPIC4","short_pith_number":"pith:UXXFMW7Z","canonical_record":{"source":{"id":"2402.15025","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-22T23:58:26Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"31175c5385e28b8a7c7eb26b601c952ec2b25c9efc6e852dc89c80656e85da96","abstract_canon_sha256":"50c1f2d1000c2d4cbe7bb252f8d4a2fef16e42505f5c48898842b03bcbcdd6bd"},"schema_version":"1.0"},"canonical_sha256":"a5ee565bf90d8f55ab84d5013cb1e8173112e21da50e5e020c7d06e5580dbf2d","source":{"kind":"arxiv","id":"2402.15025","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.15025","created_at":"2026-07-05T08:20:27Z"},{"alias_kind":"arxiv_version","alias_value":"2402.15025v2","created_at":"2026-07-05T08:20:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.15025","created_at":"2026-07-05T08:20:27Z"},{"alias_kind":"pith_short_12","alias_value":"UXXFMW7ZBWHV","created_at":"2026-07-05T08:20:27Z"},{"alias_kind":"pith_short_16","alias_value":"UXXFMW7ZBWHVLK4E","created_at":"2026-07-05T08:20:27Z"},{"alias_kind":"pith_short_8","alias_value":"UXXFMW7Z","created_at":"2026-07-05T08:20:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:UXXFMW7ZBWHVLK4E2UATZMPIC4","target":"record","payload":{"canonical_record":{"source":{"id":"2402.15025","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-22T23:58:26Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"31175c5385e28b8a7c7eb26b601c952ec2b25c9efc6e852dc89c80656e85da96","abstract_canon_sha256":"50c1f2d1000c2d4cbe7bb252f8d4a2fef16e42505f5c48898842b03bcbcdd6bd"},"schema_version":"1.0"},"canonical_sha256":"a5ee565bf90d8f55ab84d5013cb1e8173112e21da50e5e020c7d06e5580dbf2d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:20:27.857530Z","signature_b64":"MkhYMyrDlXtMUpRlobp6R271xWsaAkM/rFVrJIFJ17ormeFSnSdc0+urrzXDDuPYKdTVc6P27lLMAEyQuQx4Ag==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a5ee565bf90d8f55ab84d5013cb1e8173112e21da50e5e020c7d06e5580dbf2d","last_reissued_at":"2026-07-05T08:20:27.857061Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:20:27.857061Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2402.15025","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:20:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RjqJkaissTpJQiQIyDIFkJSeEuXLpUEEhn4+//lBUKyuDDgxhRtr/UrEtF4W2MYZ7LYxZJgKymmzSLOpbVduAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T19:21:21.437512Z"},"content_sha256":"e2f13e02b502b65bfd694c8fa76cfd7d9de0f171d4985dfc37154acc11afe026","schema_version":"1.0","event_id":"sha256:e2f13e02b502b65bfd694c8fa76cfd7d9de0f171d4985dfc37154acc11afe026"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:UXXFMW7ZBWHVLK4E2UATZMPIC4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Practice Makes Perfect: Planning to Learn Skill Parameter Policies","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Jennifer Barry, Leslie Pack Kaelbling, Linfeng Zhao, Nishanth Kumar, Stephen Proulx, Tom\\'as Lozano-P\\'erez, Tom Silver, Willie McClinton","submitted_at":"2024-02-22T23:58:26Z","abstract_excerpt":"One promising approach towards effective robot decision making in complex, long-horizon tasks is to sequence together parameterized skills. We consider a setting where a robot is initially equipped with (1) a library of parameterized skills, (2) an AI planner for sequencing together the skills given a goal, and (3) a very general prior distribution for selecting skill parameters. Once deployed, the robot should rapidly and autonomously learn to improve its performance by specializing its skill parameter selection policy to the particular objects, goals, and constraints in its environment. In t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.15025","kind":"arxiv","version":2},"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/2402.15025/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":"2026-07-05T08:20:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QsmX6C2sh2jmoO451aJS+zuj1yhLCW22DgfjGa8JaG2uEtI0vpbs8FFbGswdSij/KqxHZ8MYMoqYsHPffNWnBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T19:21:21.437881Z"},"content_sha256":"51b09940fdb7fca7730ef3bc72343597a44fe494597cc17a28c9abb1ec6da896","schema_version":"1.0","event_id":"sha256:51b09940fdb7fca7730ef3bc72343597a44fe494597cc17a28c9abb1ec6da896"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UXXFMW7ZBWHVLK4E2UATZMPIC4/bundle.json","state_url":"https://pith.science/pith/UXXFMW7ZBWHVLK4E2UATZMPIC4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UXXFMW7ZBWHVLK4E2UATZMPIC4/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":"2026-07-06T19:21:21Z","links":{"resolver":"https://pith.science/pith/UXXFMW7ZBWHVLK4E2UATZMPIC4","bundle":"https://pith.science/pith/UXXFMW7ZBWHVLK4E2UATZMPIC4/bundle.json","state":"https://pith.science/pith/UXXFMW7ZBWHVLK4E2UATZMPIC4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UXXFMW7ZBWHVLK4E2UATZMPIC4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:UXXFMW7ZBWHVLK4E2UATZMPIC4","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":"50c1f2d1000c2d4cbe7bb252f8d4a2fef16e42505f5c48898842b03bcbcdd6bd","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-22T23:58:26Z","title_canon_sha256":"31175c5385e28b8a7c7eb26b601c952ec2b25c9efc6e852dc89c80656e85da96"},"schema_version":"1.0","source":{"id":"2402.15025","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.15025","created_at":"2026-07-05T08:20:27Z"},{"alias_kind":"arxiv_version","alias_value":"2402.15025v2","created_at":"2026-07-05T08:20:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.15025","created_at":"2026-07-05T08:20:27Z"},{"alias_kind":"pith_short_12","alias_value":"UXXFMW7ZBWHV","created_at":"2026-07-05T08:20:27Z"},{"alias_kind":"pith_short_16","alias_value":"UXXFMW7ZBWHVLK4E","created_at":"2026-07-05T08:20:27Z"},{"alias_kind":"pith_short_8","alias_value":"UXXFMW7Z","created_at":"2026-07-05T08:20:27Z"}],"graph_snapshots":[{"event_id":"sha256:51b09940fdb7fca7730ef3bc72343597a44fe494597cc17a28c9abb1ec6da896","target":"graph","created_at":"2026-07-05T08:20:27Z","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/2402.15025/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"One promising approach towards effective robot decision making in complex, long-horizon tasks is to sequence together parameterized skills. We consider a setting where a robot is initially equipped with (1) a library of parameterized skills, (2) an AI planner for sequencing together the skills given a goal, and (3) a very general prior distribution for selecting skill parameters. Once deployed, the robot should rapidly and autonomously learn to improve its performance by specializing its skill parameter selection policy to the particular objects, goals, and constraints in its environment. In t","authors_text":"Jennifer Barry, Leslie Pack Kaelbling, Linfeng Zhao, Nishanth Kumar, Stephen Proulx, Tom\\'as Lozano-P\\'erez, Tom Silver, Willie McClinton","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-22T23:58:26Z","title":"Practice Makes Perfect: Planning to Learn Skill Parameter Policies"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.15025","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:e2f13e02b502b65bfd694c8fa76cfd7d9de0f171d4985dfc37154acc11afe026","target":"record","created_at":"2026-07-05T08:20:27Z","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":"50c1f2d1000c2d4cbe7bb252f8d4a2fef16e42505f5c48898842b03bcbcdd6bd","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-22T23:58:26Z","title_canon_sha256":"31175c5385e28b8a7c7eb26b601c952ec2b25c9efc6e852dc89c80656e85da96"},"schema_version":"1.0","source":{"id":"2402.15025","kind":"arxiv","version":2}},"canonical_sha256":"a5ee565bf90d8f55ab84d5013cb1e8173112e21da50e5e020c7d06e5580dbf2d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a5ee565bf90d8f55ab84d5013cb1e8173112e21da50e5e020c7d06e5580dbf2d","first_computed_at":"2026-07-05T08:20:27.857061Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:20:27.857061Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"MkhYMyrDlXtMUpRlobp6R271xWsaAkM/rFVrJIFJ17ormeFSnSdc0+urrzXDDuPYKdTVc6P27lLMAEyQuQx4Ag==","signature_status":"signed_v1","signed_at":"2026-07-05T08:20:27.857530Z","signed_message":"canonical_sha256_bytes"},"source_id":"2402.15025","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e2f13e02b502b65bfd694c8fa76cfd7d9de0f171d4985dfc37154acc11afe026","sha256:51b09940fdb7fca7730ef3bc72343597a44fe494597cc17a28c9abb1ec6da896"],"state_sha256":"08444708b81b568e73eaada77d7bb7d8cf411203f05f78a367298a6220d92faf"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+11WyP0iLpk5G6mK7v5hbbH1is+JTxkuc4k8fzKJPVZOQgJYFINbmlHPMvLyjoGVxlNdZ+FrEb59BybkXWPSBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T19:21:21.439865Z","bundle_sha256":"713febc114eb20bb6f7308363fda76f57dfe215f0f16eda675705b511d9e3706"}}