{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:Y2CAL7B5POSGY3GXLRDS5PMTTJ","short_pith_number":"pith:Y2CAL7B5","canonical_record":{"source":{"id":"2306.11886","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-20T20:59:10Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"8ea438bb5ebd25765477403b6a96cf38dfee1ced2a462fc2c79c8a49d0e7737c","abstract_canon_sha256":"93ced2a98b5d663bc30e692c996456b9e28c5775c259814718b5e1561b9b1ac0"},"schema_version":"1.0"},"canonical_sha256":"c68405fc3d7ba46c6cd75c472ebd939a66a1a56b797f85fc7a9543345b3972b8","source":{"kind":"arxiv","id":"2306.11886","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2306.11886","created_at":"2026-07-05T07:38:28Z"},{"alias_kind":"arxiv_version","alias_value":"2306.11886v3","created_at":"2026-07-05T07:38:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2306.11886","created_at":"2026-07-05T07:38:28Z"},{"alias_kind":"pith_short_12","alias_value":"Y2CAL7B5POSG","created_at":"2026-07-05T07:38:28Z"},{"alias_kind":"pith_short_16","alias_value":"Y2CAL7B5POSGY3GX","created_at":"2026-07-05T07:38:28Z"},{"alias_kind":"pith_short_8","alias_value":"Y2CAL7B5","created_at":"2026-07-05T07:38:28Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:Y2CAL7B5POSGY3GXLRDS5PMTTJ","target":"record","payload":{"canonical_record":{"source":{"id":"2306.11886","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-20T20:59:10Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"8ea438bb5ebd25765477403b6a96cf38dfee1ced2a462fc2c79c8a49d0e7737c","abstract_canon_sha256":"93ced2a98b5d663bc30e692c996456b9e28c5775c259814718b5e1561b9b1ac0"},"schema_version":"1.0"},"canonical_sha256":"c68405fc3d7ba46c6cd75c472ebd939a66a1a56b797f85fc7a9543345b3972b8","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:38:28.705348Z","signature_b64":"1Jm2b6pJYoNjQUnkyTE1wB3f90wLAB92kAtx1L7RuHgHbY0Y7pX2mF5n0meN/SiMk8zrRhHLt2h3MXLhsxPFDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c68405fc3d7ba46c6cd75c472ebd939a66a1a56b797f85fc7a9543345b3972b8","last_reissued_at":"2026-07-05T07:38:28.704887Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:38:28.704887Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2306.11886","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:38:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2blUXuDWcTNEU+Oek8jEmsw8OUZQIsepNRKfBlaMuQg+z+6bS/AZsurLC5+nYNrMW1QyxdlNv+mDgmWJR0b2Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T13:54:56.846097Z"},"content_sha256":"726a5b5dff4624fe3d1f0493481b12e9063fcd00d6a403b4eb0598537b666256","schema_version":"1.0","event_id":"sha256:726a5b5dff4624fe3d1f0493481b12e9063fcd00d6a403b4eb0598537b666256"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:Y2CAL7B5POSGY3GXLRDS5PMTTJ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SPRINT: Scalable Policy Pre-Training via Language Instruction Relabeling","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Jesse Zhang, Jiahui Zhang, Joseph J. Lim, Karl Pertsch","submitted_at":"2023-06-20T20:59:10Z","abstract_excerpt":"Pre-training robot policies with a rich set of skills can substantially accelerate the learning of downstream tasks. Prior works have defined pre-training tasks via natural language instructions, but doing so requires tedious human annotation of hundreds of thousands of instructions. Thus, we propose SPRINT, a scalable offline policy pre-training approach which substantially reduces the human effort needed for pre-training a diverse set of skills. Our method uses two core ideas to automatically expand a base set of pre-training tasks: instruction relabeling via large language models and cross-"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.11886","kind":"arxiv","version":3},"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/2306.11886/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":"2026-07-05T07:38:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"h5AcK9gMA3BVq9qnLw1fDyrr3LxdpP6gfBFRXLTaIeSnf4o9Ag3ptWk1JE/8YOs+PFI4Nw3IspT1Gviug/B2Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T13:54:56.846628Z"},"content_sha256":"b9e4f11276f292974109e41aac18b353cb2311786ddad3cff7c8ef443ad6078d","schema_version":"1.0","event_id":"sha256:b9e4f11276f292974109e41aac18b353cb2311786ddad3cff7c8ef443ad6078d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/Y2CAL7B5POSGY3GXLRDS5PMTTJ/bundle.json","state_url":"https://pith.science/pith/Y2CAL7B5POSGY3GXLRDS5PMTTJ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/Y2CAL7B5POSGY3GXLRDS5PMTTJ/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":"2026-08-09T13:54:56Z","links":{"resolver":"https://pith.science/pith/Y2CAL7B5POSGY3GXLRDS5PMTTJ","bundle":"https://pith.science/pith/Y2CAL7B5POSGY3GXLRDS5PMTTJ/bundle.json","state":"https://pith.science/pith/Y2CAL7B5POSGY3GXLRDS5PMTTJ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/Y2CAL7B5POSGY3GXLRDS5PMTTJ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:Y2CAL7B5POSGY3GXLRDS5PMTTJ","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":"93ced2a98b5d663bc30e692c996456b9e28c5775c259814718b5e1561b9b1ac0","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-20T20:59:10Z","title_canon_sha256":"8ea438bb5ebd25765477403b6a96cf38dfee1ced2a462fc2c79c8a49d0e7737c"},"schema_version":"1.0","source":{"id":"2306.11886","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2306.11886","created_at":"2026-07-05T07:38:28Z"},{"alias_kind":"arxiv_version","alias_value":"2306.11886v3","created_at":"2026-07-05T07:38:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2306.11886","created_at":"2026-07-05T07:38:28Z"},{"alias_kind":"pith_short_12","alias_value":"Y2CAL7B5POSG","created_at":"2026-07-05T07:38:28Z"},{"alias_kind":"pith_short_16","alias_value":"Y2CAL7B5POSGY3GX","created_at":"2026-07-05T07:38:28Z"},{"alias_kind":"pith_short_8","alias_value":"Y2CAL7B5","created_at":"2026-07-05T07:38:28Z"}],"graph_snapshots":[{"event_id":"sha256:b9e4f11276f292974109e41aac18b353cb2311786ddad3cff7c8ef443ad6078d","target":"graph","created_at":"2026-07-05T07:38:28Z","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/2306.11886/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Pre-training robot policies with a rich set of skills can substantially accelerate the learning of downstream tasks. Prior works have defined pre-training tasks via natural language instructions, but doing so requires tedious human annotation of hundreds of thousands of instructions. Thus, we propose SPRINT, a scalable offline policy pre-training approach which substantially reduces the human effort needed for pre-training a diverse set of skills. Our method uses two core ideas to automatically expand a base set of pre-training tasks: instruction relabeling via large language models and cross-","authors_text":"Jesse Zhang, Jiahui Zhang, Joseph J. Lim, Karl Pertsch","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-20T20:59:10Z","title":"SPRINT: Scalable Policy Pre-Training via Language Instruction Relabeling"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.11886","kind":"arxiv","version":3},"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":"sha256:726a5b5dff4624fe3d1f0493481b12e9063fcd00d6a403b4eb0598537b666256","target":"record","created_at":"2026-07-05T07:38:28Z","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":"93ced2a98b5d663bc30e692c996456b9e28c5775c259814718b5e1561b9b1ac0","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-20T20:59:10Z","title_canon_sha256":"8ea438bb5ebd25765477403b6a96cf38dfee1ced2a462fc2c79c8a49d0e7737c"},"schema_version":"1.0","source":{"id":"2306.11886","kind":"arxiv","version":3}},"canonical_sha256":"c68405fc3d7ba46c6cd75c472ebd939a66a1a56b797f85fc7a9543345b3972b8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c68405fc3d7ba46c6cd75c472ebd939a66a1a56b797f85fc7a9543345b3972b8","first_computed_at":"2026-07-05T07:38:28.704887Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:38:28.704887Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1Jm2b6pJYoNjQUnkyTE1wB3f90wLAB92kAtx1L7RuHgHbY0Y7pX2mF5n0meN/SiMk8zrRhHLt2h3MXLhsxPFDg==","signature_status":"signed_v1","signed_at":"2026-07-05T07:38:28.705348Z","signed_message":"canonical_sha256_bytes"},"source_id":"2306.11886","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:726a5b5dff4624fe3d1f0493481b12e9063fcd00d6a403b4eb0598537b666256","sha256:b9e4f11276f292974109e41aac18b353cb2311786ddad3cff7c8ef443ad6078d"],"state_sha256":"835f896cba3d2ac8ffa76f54bb6cbaf505dbc7aaf152fd836b9316c23e9281ab"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DHh8QQSECjAq+mMtvkmV8vfGPSUIMWtnpPTVbOmClB/R4TaxEHabqVCno+TC2+bBuTgiqTnN9YyxHWnMIriQDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T13:54:56.852181Z","bundle_sha256":"6df3b226d261592336f6d17e2100bdbb79f76ffad70a3375bb2ec8d3e5dd07d1"}}