{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:WD2T5NJD4FGR7BZUT3ZBKLC52U","short_pith_number":"pith:WD2T5NJD","canonical_record":{"source":{"id":"2310.19561","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-30T14:17:32Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"495d718aeb0087c17c1d8faa45deb936c281e19f33ed26e4eba1fa721705cb5e","abstract_canon_sha256":"f9d685915c07f752bf6c24444f268c1badf8b5b60402f6585df6148e8516e398"},"schema_version":"1.0"},"canonical_sha256":"b0f53eb523e14d1f87349ef2152c5dd52095de22394dcc8578a33568644ec7d4","source":{"kind":"arxiv","id":"2310.19561","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.19561","created_at":"2026-07-05T08:18:45Z"},{"alias_kind":"arxiv_version","alias_value":"2310.19561v2","created_at":"2026-07-05T08:18:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.19561","created_at":"2026-07-05T08:18:45Z"},{"alias_kind":"pith_short_12","alias_value":"WD2T5NJD4FGR","created_at":"2026-07-05T08:18:45Z"},{"alias_kind":"pith_short_16","alias_value":"WD2T5NJD4FGR7BZU","created_at":"2026-07-05T08:18:45Z"},{"alias_kind":"pith_short_8","alias_value":"WD2T5NJD","created_at":"2026-07-05T08:18:45Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:WD2T5NJD4FGR7BZUT3ZBKLC52U","target":"record","payload":{"canonical_record":{"source":{"id":"2310.19561","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-30T14:17:32Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"495d718aeb0087c17c1d8faa45deb936c281e19f33ed26e4eba1fa721705cb5e","abstract_canon_sha256":"f9d685915c07f752bf6c24444f268c1badf8b5b60402f6585df6148e8516e398"},"schema_version":"1.0"},"canonical_sha256":"b0f53eb523e14d1f87349ef2152c5dd52095de22394dcc8578a33568644ec7d4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:18:45.726791Z","signature_b64":"RFG3UXKduZyCYE6l0ZiZIwdBvle5ldfPafLF9XFfO7dlMhEsQWvhINKD+kqTu1YwwreIsJjo/4fycO7pjIaKBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b0f53eb523e14d1f87349ef2152c5dd52095de22394dcc8578a33568644ec7d4","last_reissued_at":"2026-07-05T08:18:45.726236Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:18:45.726236Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2310.19561","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":"2026-07-05T08:18:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"N+ixoHpfTQ7hB3Vy9Q0q1ypQgJeMkc68LwD7Sds0bGTAXibKjgHtXCFFMQtd0u1aRhHLImsh+dALjNZVW9XeAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T04:03:23.397678Z"},"content_sha256":"ed57a9a955146db5729dc5fb4287b7fe7e6af92993d6b5b25674e3240653024a","schema_version":"1.0","event_id":"sha256:ed57a9a955146db5729dc5fb4287b7fe7e6af92993d6b5b25674e3240653024a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:WD2T5NJD4FGR7BZUT3ZBKLC52U","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Non-parametric regression for robot learning on manifolds","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"A. Kucukyilmaz, K. Bharath, P. C. Lopez-Custodio, S. P. Preston","submitted_at":"2023-10-30T14:17:32Z","abstract_excerpt":"Many of the tools available for robot learning were designed for Euclidean data. However, many applications in robotics involve manifold-valued data. A common example is orientation; this can be represented as a 3-by-3 rotation matrix or a quaternion, the spaces of which are non-Euclidean manifolds. In robot learning, manifold-valued data are often handled by relating the manifold to a suitable Euclidean space, either by embedding the manifold or by projecting the data onto one or several tangent spaces. These approaches can result in poor predictive accuracy, and convoluted algorithms. In thi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.19561","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/2310.19561/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":"2026-07-05T08:18:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kF7RhEY9TLM/spjcoH0sTgg9KenZUyK4IV/8z11WxxP/sTuxJilksnoCP1q53AzKyuxBZ0iwhNzSG6Z7zI47Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T04:03:23.398192Z"},"content_sha256":"271a31e1217555216f2b2214938a28cdf826d34f8cd35f2391d3b6039c5f4765","schema_version":"1.0","event_id":"sha256:271a31e1217555216f2b2214938a28cdf826d34f8cd35f2391d3b6039c5f4765"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WD2T5NJD4FGR7BZUT3ZBKLC52U/bundle.json","state_url":"https://pith.science/pith/WD2T5NJD4FGR7BZUT3ZBKLC52U/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WD2T5NJD4FGR7BZUT3ZBKLC52U/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":"2026-08-18T04:03:23Z","links":{"resolver":"https://pith.science/pith/WD2T5NJD4FGR7BZUT3ZBKLC52U","bundle":"https://pith.science/pith/WD2T5NJD4FGR7BZUT3ZBKLC52U/bundle.json","state":"https://pith.science/pith/WD2T5NJD4FGR7BZUT3ZBKLC52U/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WD2T5NJD4FGR7BZUT3ZBKLC52U/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:WD2T5NJD4FGR7BZUT3ZBKLC52U","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":"f9d685915c07f752bf6c24444f268c1badf8b5b60402f6585df6148e8516e398","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-30T14:17:32Z","title_canon_sha256":"495d718aeb0087c17c1d8faa45deb936c281e19f33ed26e4eba1fa721705cb5e"},"schema_version":"1.0","source":{"id":"2310.19561","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.19561","created_at":"2026-07-05T08:18:45Z"},{"alias_kind":"arxiv_version","alias_value":"2310.19561v2","created_at":"2026-07-05T08:18:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.19561","created_at":"2026-07-05T08:18:45Z"},{"alias_kind":"pith_short_12","alias_value":"WD2T5NJD4FGR","created_at":"2026-07-05T08:18:45Z"},{"alias_kind":"pith_short_16","alias_value":"WD2T5NJD4FGR7BZU","created_at":"2026-07-05T08:18:45Z"},{"alias_kind":"pith_short_8","alias_value":"WD2T5NJD","created_at":"2026-07-05T08:18:45Z"}],"graph_snapshots":[{"event_id":"sha256:271a31e1217555216f2b2214938a28cdf826d34f8cd35f2391d3b6039c5f4765","target":"graph","created_at":"2026-07-05T08:18:45Z","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/2310.19561/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Many of the tools available for robot learning were designed for Euclidean data. However, many applications in robotics involve manifold-valued data. A common example is orientation; this can be represented as a 3-by-3 rotation matrix or a quaternion, the spaces of which are non-Euclidean manifolds. In robot learning, manifold-valued data are often handled by relating the manifold to a suitable Euclidean space, either by embedding the manifold or by projecting the data onto one or several tangent spaces. These approaches can result in poor predictive accuracy, and convoluted algorithms. In thi","authors_text":"A. Kucukyilmaz, K. Bharath, P. C. Lopez-Custodio, S. P. Preston","cross_cats":["cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-30T14:17:32Z","title":"Non-parametric regression for robot learning on manifolds"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.19561","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:ed57a9a955146db5729dc5fb4287b7fe7e6af92993d6b5b25674e3240653024a","target":"record","created_at":"2026-07-05T08:18:45Z","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":"f9d685915c07f752bf6c24444f268c1badf8b5b60402f6585df6148e8516e398","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-10-30T14:17:32Z","title_canon_sha256":"495d718aeb0087c17c1d8faa45deb936c281e19f33ed26e4eba1fa721705cb5e"},"schema_version":"1.0","source":{"id":"2310.19561","kind":"arxiv","version":2}},"canonical_sha256":"b0f53eb523e14d1f87349ef2152c5dd52095de22394dcc8578a33568644ec7d4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b0f53eb523e14d1f87349ef2152c5dd52095de22394dcc8578a33568644ec7d4","first_computed_at":"2026-07-05T08:18:45.726236Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:18:45.726236Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"RFG3UXKduZyCYE6l0ZiZIwdBvle5ldfPafLF9XFfO7dlMhEsQWvhINKD+kqTu1YwwreIsJjo/4fycO7pjIaKBw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:18:45.726791Z","signed_message":"canonical_sha256_bytes"},"source_id":"2310.19561","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ed57a9a955146db5729dc5fb4287b7fe7e6af92993d6b5b25674e3240653024a","sha256:271a31e1217555216f2b2214938a28cdf826d34f8cd35f2391d3b6039c5f4765"],"state_sha256":"b728ecd9faf3f5edc9225d1ad3afedff3f8fd822c3e549bb782ec7a985df1811"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LiiC1nvt4BsE8y2lmSuAcCkwca3JHuTSBSga3iYl9S/dQZ7pmpjE4PK3XY5FtxSOpzSGbqCOg/2qDNqPULJ7Cg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-18T04:03:23.403525Z","bundle_sha256":"d308ec4f36552fefa14ff698367510fb34035e89666d084340e3b0a7ba9ae98e"}}