{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:V2IKBPV477V7CQFDJZPC34OSJK","short_pith_number":"pith:V2IKBPV4","canonical_record":{"source":{"id":"2302.12422","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-24T02:54:15Z","cross_cats_sorted":[],"title_canon_sha256":"d58f456fe6620a45efd57f000a2282594e6f4ae27918dfa40abc2a401f7cf833","abstract_canon_sha256":"ce5cfd5dc9c22c8f5ae095c70fe4df5aac94b939a8c815956778e8b22c93e95c"},"schema_version":"1.0"},"canonical_sha256":"ae90a0bebcffebf140a34e5e2df1d24ab699a767b87c1b29a518e24915fd0933","source":{"kind":"arxiv","id":"2302.12422","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2302.12422","created_at":"2026-07-05T07:00:21Z"},{"alias_kind":"arxiv_version","alias_value":"2302.12422v2","created_at":"2026-07-05T07:00:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2302.12422","created_at":"2026-07-05T07:00:21Z"},{"alias_kind":"pith_short_12","alias_value":"V2IKBPV477V7","created_at":"2026-07-05T07:00:21Z"},{"alias_kind":"pith_short_16","alias_value":"V2IKBPV477V7CQFD","created_at":"2026-07-05T07:00:21Z"},{"alias_kind":"pith_short_8","alias_value":"V2IKBPV4","created_at":"2026-07-05T07:00:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:V2IKBPV477V7CQFDJZPC34OSJK","target":"record","payload":{"canonical_record":{"source":{"id":"2302.12422","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-24T02:54:15Z","cross_cats_sorted":[],"title_canon_sha256":"d58f456fe6620a45efd57f000a2282594e6f4ae27918dfa40abc2a401f7cf833","abstract_canon_sha256":"ce5cfd5dc9c22c8f5ae095c70fe4df5aac94b939a8c815956778e8b22c93e95c"},"schema_version":"1.0"},"canonical_sha256":"ae90a0bebcffebf140a34e5e2df1d24ab699a767b87c1b29a518e24915fd0933","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:00:21.425976Z","signature_b64":"xrogosLixzstLD6BWMK9XXF9DZR7KOMuQ0lQ7bOs+NXwg6I610GRKbFsgmUm5Ee85sp71L7dN38jGmgB0ZUyDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ae90a0bebcffebf140a34e5e2df1d24ab699a767b87c1b29a518e24915fd0933","last_reissued_at":"2026-07-05T07:00:21.425509Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:00:21.425509Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2302.12422","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":"2026-07-05T07:00:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"l7yJiEtSr6voJnG6jBrVRU7gTdxAeZqhk+PMS3nEdYlayS1hEzN+cnWwYpyvxw5UXGfUIsrRVuFSIsMfP79xBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-12T03:52:46.005798Z"},"content_sha256":"79647fa7d2a9d9d6735a13e42de6c1299d17a3da9f7193034da37b94509c7cfc","schema_version":"1.0","event_id":"sha256:79647fa7d2a9d9d6735a13e42de6c1299d17a3da9f7193034da37b94509c7cfc"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:V2IKBPV477V7CQFDJZPC34OSJK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"MimicPlay: Long-Horizon Imitation Learning by Watching Human Play","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Anima Anandkumar, Chen Wang, Danfei Xu, Jiankai Sun, Li Fei-Fei, Linxi Fan, Ruohan Zhang, Yuke Zhu","submitted_at":"2023-02-24T02:54:15Z","abstract_excerpt":"Imitation learning from human demonstrations is a promising paradigm for teaching robots manipulation skills in the real world. However, learning complex long-horizon tasks often requires an unattainable amount of demonstrations. To reduce the high data requirement, we resort to human play data - video sequences of people freely interacting with the environment using their hands. Even with different morphologies, we hypothesize that human play data contain rich and salient information about physical interactions that can readily facilitate robot policy learning. Motivated by this, we introduce"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.12422","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/2302.12422/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":"2026-07-05T07:00:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Hc6IPmNmIZFzHe7cW+bTWTh6WmoUvD0B4eGvym7ixRKNlNbEgRbiqIk553ECp3HLXhVauQZzyru6lOMSABV4DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-12T03:52:46.006169Z"},"content_sha256":"6db5c7109e2c35c2d5907994dab4509c6048d53f09bcafa725bbcad21b96ec78","schema_version":"1.0","event_id":"sha256:6db5c7109e2c35c2d5907994dab4509c6048d53f09bcafa725bbcad21b96ec78"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/V2IKBPV477V7CQFDJZPC34OSJK/bundle.json","state_url":"https://pith.science/pith/V2IKBPV477V7CQFDJZPC34OSJK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/V2IKBPV477V7CQFDJZPC34OSJK/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":"2026-07-12T03:52:46Z","links":{"resolver":"https://pith.science/pith/V2IKBPV477V7CQFDJZPC34OSJK","bundle":"https://pith.science/pith/V2IKBPV477V7CQFDJZPC34OSJK/bundle.json","state":"https://pith.science/pith/V2IKBPV477V7CQFDJZPC34OSJK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/V2IKBPV477V7CQFDJZPC34OSJK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:V2IKBPV477V7CQFDJZPC34OSJK","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":"ce5cfd5dc9c22c8f5ae095c70fe4df5aac94b939a8c815956778e8b22c93e95c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-24T02:54:15Z","title_canon_sha256":"d58f456fe6620a45efd57f000a2282594e6f4ae27918dfa40abc2a401f7cf833"},"schema_version":"1.0","source":{"id":"2302.12422","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2302.12422","created_at":"2026-07-05T07:00:21Z"},{"alias_kind":"arxiv_version","alias_value":"2302.12422v2","created_at":"2026-07-05T07:00:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2302.12422","created_at":"2026-07-05T07:00:21Z"},{"alias_kind":"pith_short_12","alias_value":"V2IKBPV477V7","created_at":"2026-07-05T07:00:21Z"},{"alias_kind":"pith_short_16","alias_value":"V2IKBPV477V7CQFD","created_at":"2026-07-05T07:00:21Z"},{"alias_kind":"pith_short_8","alias_value":"V2IKBPV4","created_at":"2026-07-05T07:00:21Z"}],"graph_snapshots":[{"event_id":"sha256:6db5c7109e2c35c2d5907994dab4509c6048d53f09bcafa725bbcad21b96ec78","target":"graph","created_at":"2026-07-05T07:00:21Z","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/2302.12422/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Imitation learning from human demonstrations is a promising paradigm for teaching robots manipulation skills in the real world. However, learning complex long-horizon tasks often requires an unattainable amount of demonstrations. To reduce the high data requirement, we resort to human play data - video sequences of people freely interacting with the environment using their hands. Even with different morphologies, we hypothesize that human play data contain rich and salient information about physical interactions that can readily facilitate robot policy learning. Motivated by this, we introduce","authors_text":"Anima Anandkumar, Chen Wang, Danfei Xu, Jiankai Sun, Li Fei-Fei, Linxi Fan, Ruohan Zhang, Yuke Zhu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-24T02:54:15Z","title":"MimicPlay: Long-Horizon Imitation Learning by Watching Human Play"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.12422","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":"sha256:79647fa7d2a9d9d6735a13e42de6c1299d17a3da9f7193034da37b94509c7cfc","target":"record","created_at":"2026-07-05T07:00:21Z","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":"ce5cfd5dc9c22c8f5ae095c70fe4df5aac94b939a8c815956778e8b22c93e95c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-24T02:54:15Z","title_canon_sha256":"d58f456fe6620a45efd57f000a2282594e6f4ae27918dfa40abc2a401f7cf833"},"schema_version":"1.0","source":{"id":"2302.12422","kind":"arxiv","version":2}},"canonical_sha256":"ae90a0bebcffebf140a34e5e2df1d24ab699a767b87c1b29a518e24915fd0933","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ae90a0bebcffebf140a34e5e2df1d24ab699a767b87c1b29a518e24915fd0933","first_computed_at":"2026-07-05T07:00:21.425509Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:00:21.425509Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xrogosLixzstLD6BWMK9XXF9DZR7KOMuQ0lQ7bOs+NXwg6I610GRKbFsgmUm5Ee85sp71L7dN38jGmgB0ZUyDw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:00:21.425976Z","signed_message":"canonical_sha256_bytes"},"source_id":"2302.12422","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:79647fa7d2a9d9d6735a13e42de6c1299d17a3da9f7193034da37b94509c7cfc","sha256:6db5c7109e2c35c2d5907994dab4509c6048d53f09bcafa725bbcad21b96ec78"],"state_sha256":"0b6cc3f93c315b9266201a5a619887213116c8749d35b400fbe1c894379abc46"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5OK62woo5v8zvrD0lZz9+C5H8rXe03b3WXC5Wx+19kMZVgOSJjxR1V+wPnHF/VvH536gHM06dZf96CFBaPDGAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-12T03:52:46.008614Z","bundle_sha256":"1578544c59ae0e2b8afd8bf4269297afc687a06afd6b9d75f555cf0edbd0571f"}}