{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:YMJ3FO2URQ7CI2PKD4ALUJ2NYL","short_pith_number":"pith:YMJ3FO2U","canonical_record":{"source":{"id":"2504.20969","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-29T17:37:45Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"91efe6e0f7480049059b969ee17e0efa1b43e7563e7ee07bf3ada97b1a7e129f","abstract_canon_sha256":"f9cd1b07cfa2e3c7caa95e4d2b67c38c39cd648ca613e90b3bc01f342070e75d"},"schema_version":"1.0"},"canonical_sha256":"c313b2bb548c3e2469ea1f00ba274dc2d6e5ffd40d44fbd0827b8ee09b755e18","source":{"kind":"arxiv","id":"2504.20969","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.20969","created_at":"2026-07-05T11:21:45Z"},{"alias_kind":"arxiv_version","alias_value":"2504.20969v2","created_at":"2026-07-05T11:21:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.20969","created_at":"2026-07-05T11:21:45Z"},{"alias_kind":"pith_short_12","alias_value":"YMJ3FO2URQ7C","created_at":"2026-07-05T11:21:45Z"},{"alias_kind":"pith_short_16","alias_value":"YMJ3FO2URQ7CI2PK","created_at":"2026-07-05T11:21:45Z"},{"alias_kind":"pith_short_8","alias_value":"YMJ3FO2U","created_at":"2026-07-05T11:21:45Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:YMJ3FO2URQ7CI2PKD4ALUJ2NYL","target":"record","payload":{"canonical_record":{"source":{"id":"2504.20969","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-29T17:37:45Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"91efe6e0f7480049059b969ee17e0efa1b43e7563e7ee07bf3ada97b1a7e129f","abstract_canon_sha256":"f9cd1b07cfa2e3c7caa95e4d2b67c38c39cd648ca613e90b3bc01f342070e75d"},"schema_version":"1.0"},"canonical_sha256":"c313b2bb548c3e2469ea1f00ba274dc2d6e5ffd40d44fbd0827b8ee09b755e18","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:21:45.931340Z","signature_b64":"Ui0z8FXKkTTcZv9wxOlO5eI9hBwiE4jEf1ZYl15ZNTfUousclgqKKCwTHzb7ZfmathMMD/KjOR5j9/Z3Uj/VAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c313b2bb548c3e2469ea1f00ba274dc2d6e5ffd40d44fbd0827b8ee09b755e18","last_reissued_at":"2026-07-05T11:21:45.930798Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:21:45.930798Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2504.20969","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":"2026-07-05T11:21:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EQDAYJzkBpcdAtgtNwDhIR2duItRYcZcGLkBaggNAanN1LEx2cBQ42t6/G+wNY2vLTV3fyxi247evCchzk7XDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T19:23:18.809596Z"},"content_sha256":"fe793664261caa44c419515f874f5307e4a8567f42dba7685049e2c5dda819f7","schema_version":"1.0","event_id":"sha256:fe793664261caa44c419515f874f5307e4a8567f42dba7685049e2c5dda819f7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:YMJ3FO2URQ7CI2PKD4ALUJ2NYL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"XPG-RL: Reinforcement Learning with Explainable Priority Guidance for Efficiency-Boosted Mechanical Search","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Elena Shrestha, Shichen Li, Yiting Zhang","submitted_at":"2025-04-29T17:37:45Z","abstract_excerpt":"Mechanical search (MS) in cluttered environments remains a significant challenge for autonomous manipulators, requiring long-horizon planning and robust state estimation under occlusions and partial observability. In this work, we introduce XPG-RL, a reinforcement learning framework that enables agents to efficiently perform MS tasks through explainable, priority-guided decision-making based on raw sensory inputs. XPG-RL integrates a task-driven action prioritization mechanism with a learned context-aware switching strategy that dynamically selects from a discrete set of action primitives such"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.20969","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/2504.20969/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":"2026-07-05T11:21:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nX4pP9eYaQ8hzFm7lWtULLWwrky8rO+AM2BZOzaJgi4S2vhyrY8OrZRPOulFVY30W5dtQ78JCH3yaa0vx50JBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T19:23:18.809924Z"},"content_sha256":"1e7ebe7b1b73c48413215a1a610283f13cd2c44dd1ebfe04e8ff0de09def4c68","schema_version":"1.0","event_id":"sha256:1e7ebe7b1b73c48413215a1a610283f13cd2c44dd1ebfe04e8ff0de09def4c68"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YMJ3FO2URQ7CI2PKD4ALUJ2NYL/bundle.json","state_url":"https://pith.science/pith/YMJ3FO2URQ7CI2PKD4ALUJ2NYL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YMJ3FO2URQ7CI2PKD4ALUJ2NYL/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":"2026-08-20T19:23:18Z","links":{"resolver":"https://pith.science/pith/YMJ3FO2URQ7CI2PKD4ALUJ2NYL","bundle":"https://pith.science/pith/YMJ3FO2URQ7CI2PKD4ALUJ2NYL/bundle.json","state":"https://pith.science/pith/YMJ3FO2URQ7CI2PKD4ALUJ2NYL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YMJ3FO2URQ7CI2PKD4ALUJ2NYL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:YMJ3FO2URQ7CI2PKD4ALUJ2NYL","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":"f9cd1b07cfa2e3c7caa95e4d2b67c38c39cd648ca613e90b3bc01f342070e75d","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-29T17:37:45Z","title_canon_sha256":"91efe6e0f7480049059b969ee17e0efa1b43e7563e7ee07bf3ada97b1a7e129f"},"schema_version":"1.0","source":{"id":"2504.20969","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.20969","created_at":"2026-07-05T11:21:45Z"},{"alias_kind":"arxiv_version","alias_value":"2504.20969v2","created_at":"2026-07-05T11:21:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.20969","created_at":"2026-07-05T11:21:45Z"},{"alias_kind":"pith_short_12","alias_value":"YMJ3FO2URQ7C","created_at":"2026-07-05T11:21:45Z"},{"alias_kind":"pith_short_16","alias_value":"YMJ3FO2URQ7CI2PK","created_at":"2026-07-05T11:21:45Z"},{"alias_kind":"pith_short_8","alias_value":"YMJ3FO2U","created_at":"2026-07-05T11:21:45Z"}],"graph_snapshots":[{"event_id":"sha256:1e7ebe7b1b73c48413215a1a610283f13cd2c44dd1ebfe04e8ff0de09def4c68","target":"graph","created_at":"2026-07-05T11:21:45Z","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/2504.20969/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Mechanical search (MS) in cluttered environments remains a significant challenge for autonomous manipulators, requiring long-horizon planning and robust state estimation under occlusions and partial observability. In this work, we introduce XPG-RL, a reinforcement learning framework that enables agents to efficiently perform MS tasks through explainable, priority-guided decision-making based on raw sensory inputs. XPG-RL integrates a task-driven action prioritization mechanism with a learned context-aware switching strategy that dynamically selects from a discrete set of action primitives such","authors_text":"Elena Shrestha, Shichen Li, Yiting Zhang","cross_cats":["cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-29T17:37:45Z","title":"XPG-RL: Reinforcement Learning with Explainable Priority Guidance for Efficiency-Boosted Mechanical Search"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.20969","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:fe793664261caa44c419515f874f5307e4a8567f42dba7685049e2c5dda819f7","target":"record","created_at":"2026-07-05T11:21:45Z","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":"f9cd1b07cfa2e3c7caa95e4d2b67c38c39cd648ca613e90b3bc01f342070e75d","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-29T17:37:45Z","title_canon_sha256":"91efe6e0f7480049059b969ee17e0efa1b43e7563e7ee07bf3ada97b1a7e129f"},"schema_version":"1.0","source":{"id":"2504.20969","kind":"arxiv","version":2}},"canonical_sha256":"c313b2bb548c3e2469ea1f00ba274dc2d6e5ffd40d44fbd0827b8ee09b755e18","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c313b2bb548c3e2469ea1f00ba274dc2d6e5ffd40d44fbd0827b8ee09b755e18","first_computed_at":"2026-07-05T11:21:45.930798Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:21:45.930798Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Ui0z8FXKkTTcZv9wxOlO5eI9hBwiE4jEf1ZYl15ZNTfUousclgqKKCwTHzb7ZfmathMMD/KjOR5j9/Z3Uj/VAw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:21:45.931340Z","signed_message":"canonical_sha256_bytes"},"source_id":"2504.20969","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:fe793664261caa44c419515f874f5307e4a8567f42dba7685049e2c5dda819f7","sha256:1e7ebe7b1b73c48413215a1a610283f13cd2c44dd1ebfe04e8ff0de09def4c68"],"state_sha256":"9b684fa52b4a34613646a38c5a7296ae935a9a017c11b32e71602096a53769a5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pwb+qQvqCcHE3HopkrCYX3T5v3XpIVx8MRU4D0mDck9uoIk0gYfo2RCGVidjVaMDtF3pJwaMA2PP53geLBCODQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T19:23:18.813301Z","bundle_sha256":"3113aa446daf534923420a9f1ce020bdac8be585e05b3337cb7665926879ef93"}}