{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:YVA5SRG7R3DAZCAKY2NFRR4MI4","short_pith_number":"pith:YVA5SRG7","canonical_record":{"source":{"id":"2303.13446","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-03-23T17:08:38Z","cross_cats_sorted":[],"title_canon_sha256":"64157bfe2d7f0ae43f6052dde0d0afbc6f5bca27e9a4b759b5cd4f7da3ada9bc","abstract_canon_sha256":"4f969816dbf942f39047196c62be66274a292c425827d8ce182c58f0f936c377"},"schema_version":"1.0"},"canonical_sha256":"c541d944df8ec60c880ac69a58c78c4703c8a45a1ca4e5300be4848eab6f5c79","source":{"kind":"arxiv","id":"2303.13446","version":4},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2303.13446","created_at":"2026-07-05T06:46:21Z"},{"alias_kind":"arxiv_version","alias_value":"2303.13446v4","created_at":"2026-07-05T06:46:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2303.13446","created_at":"2026-07-05T06:46:21Z"},{"alias_kind":"pith_short_12","alias_value":"YVA5SRG7R3DA","created_at":"2026-07-05T06:46:21Z"},{"alias_kind":"pith_short_16","alias_value":"YVA5SRG7R3DAZCAK","created_at":"2026-07-05T06:46:21Z"},{"alias_kind":"pith_short_8","alias_value":"YVA5SRG7","created_at":"2026-07-05T06:46:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:YVA5SRG7R3DAZCAKY2NFRR4MI4","target":"record","payload":{"canonical_record":{"source":{"id":"2303.13446","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-03-23T17:08:38Z","cross_cats_sorted":[],"title_canon_sha256":"64157bfe2d7f0ae43f6052dde0d0afbc6f5bca27e9a4b759b5cd4f7da3ada9bc","abstract_canon_sha256":"4f969816dbf942f39047196c62be66274a292c425827d8ce182c58f0f936c377"},"schema_version":"1.0"},"canonical_sha256":"c541d944df8ec60c880ac69a58c78c4703c8a45a1ca4e5300be4848eab6f5c79","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:46:21.788599Z","signature_b64":"7CipI+uG36eO6yYfHGofoUcNnme0eDDFeNzwufOCImr3jT8rk16+oaOGlpwZ1FkmgvHkTiKzQBQdkpkFur+cDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c541d944df8ec60c880ac69a58c78c4703c8a45a1ca4e5300be4848eab6f5c79","last_reissued_at":"2026-07-05T06:46:21.788104Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:46:21.788104Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2303.13446","source_version":4,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:46:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sBBsznGkMoEAu0o6pH5crPEd7jx0Ue6xxIDi1gJhsNnit1lD195WwXCG9QO7cVwrOUozm26UASLDeMfkYtOlDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T22:59:19.843005Z"},"content_sha256":"e642bfa535ae779ddfa5982ec49a8bd7aaa185bff64afd945fd6d27460776f3a","schema_version":"1.0","event_id":"sha256:e642bfa535ae779ddfa5982ec49a8bd7aaa185bff64afd945fd6d27460776f3a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:YVA5SRG7R3DAZCAKY2NFRR4MI4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Harish Ravichandar, Mandy Xie, Ye Zhao, Yunhai Han","submitted_at":"2023-03-23T17:08:38Z","abstract_excerpt":"Despite impressive dexterous manipulation capabilities enabled by learning-based approaches, we are yet to witness widespread adoption beyond well-resourced laboratories. This is likely due to practical limitations, such as significant computational burden, inscrutable learned behaviors, sensitivity to initialization, and the considerable technical expertise required for implementation. In this work, we investigate the utility of Koopman operator theory in alleviating these limitations. Koopman operators are simple yet powerful control-theoretic structures to represent complex nonlinear dynami"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.13446","kind":"arxiv","version":4},"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/2303.13446/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":"2026-07-05T06:46:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"89wCqajT4VPmyfyhqYodS1xL8kyAtcRD4MgokleAQoScM7hPezQntRSbYmmqoL7+8dv7qz5M9DoOTaGGOKhEBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T22:59:19.843509Z"},"content_sha256":"fc757c722908aac72b5fdf0646962bb8c691e0509d24dd859f94c93b6230db5b","schema_version":"1.0","event_id":"sha256:fc757c722908aac72b5fdf0646962bb8c691e0509d24dd859f94c93b6230db5b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YVA5SRG7R3DAZCAKY2NFRR4MI4/bundle.json","state_url":"https://pith.science/pith/YVA5SRG7R3DAZCAKY2NFRR4MI4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YVA5SRG7R3DAZCAKY2NFRR4MI4/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":"2026-08-06T22:59:19Z","links":{"resolver":"https://pith.science/pith/YVA5SRG7R3DAZCAKY2NFRR4MI4","bundle":"https://pith.science/pith/YVA5SRG7R3DAZCAKY2NFRR4MI4/bundle.json","state":"https://pith.science/pith/YVA5SRG7R3DAZCAKY2NFRR4MI4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YVA5SRG7R3DAZCAKY2NFRR4MI4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:YVA5SRG7R3DAZCAKY2NFRR4MI4","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":"4f969816dbf942f39047196c62be66274a292c425827d8ce182c58f0f936c377","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-03-23T17:08:38Z","title_canon_sha256":"64157bfe2d7f0ae43f6052dde0d0afbc6f5bca27e9a4b759b5cd4f7da3ada9bc"},"schema_version":"1.0","source":{"id":"2303.13446","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2303.13446","created_at":"2026-07-05T06:46:21Z"},{"alias_kind":"arxiv_version","alias_value":"2303.13446v4","created_at":"2026-07-05T06:46:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2303.13446","created_at":"2026-07-05T06:46:21Z"},{"alias_kind":"pith_short_12","alias_value":"YVA5SRG7R3DA","created_at":"2026-07-05T06:46:21Z"},{"alias_kind":"pith_short_16","alias_value":"YVA5SRG7R3DAZCAK","created_at":"2026-07-05T06:46:21Z"},{"alias_kind":"pith_short_8","alias_value":"YVA5SRG7","created_at":"2026-07-05T06:46:21Z"}],"graph_snapshots":[{"event_id":"sha256:fc757c722908aac72b5fdf0646962bb8c691e0509d24dd859f94c93b6230db5b","target":"graph","created_at":"2026-07-05T06:46:21Z","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/2303.13446/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Despite impressive dexterous manipulation capabilities enabled by learning-based approaches, we are yet to witness widespread adoption beyond well-resourced laboratories. This is likely due to practical limitations, such as significant computational burden, inscrutable learned behaviors, sensitivity to initialization, and the considerable technical expertise required for implementation. In this work, we investigate the utility of Koopman operator theory in alleviating these limitations. Koopman operators are simple yet powerful control-theoretic structures to represent complex nonlinear dynami","authors_text":"Harish Ravichandar, Mandy Xie, Ye Zhao, Yunhai Han","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-03-23T17:08:38Z","title":"On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.13446","kind":"arxiv","version":4},"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:e642bfa535ae779ddfa5982ec49a8bd7aaa185bff64afd945fd6d27460776f3a","target":"record","created_at":"2026-07-05T06:46:21Z","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":"4f969816dbf942f39047196c62be66274a292c425827d8ce182c58f0f936c377","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-03-23T17:08:38Z","title_canon_sha256":"64157bfe2d7f0ae43f6052dde0d0afbc6f5bca27e9a4b759b5cd4f7da3ada9bc"},"schema_version":"1.0","source":{"id":"2303.13446","kind":"arxiv","version":4}},"canonical_sha256":"c541d944df8ec60c880ac69a58c78c4703c8a45a1ca4e5300be4848eab6f5c79","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c541d944df8ec60c880ac69a58c78c4703c8a45a1ca4e5300be4848eab6f5c79","first_computed_at":"2026-07-05T06:46:21.788104Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:46:21.788104Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"7CipI+uG36eO6yYfHGofoUcNnme0eDDFeNzwufOCImr3jT8rk16+oaOGlpwZ1FkmgvHkTiKzQBQdkpkFur+cDg==","signature_status":"signed_v1","signed_at":"2026-07-05T06:46:21.788599Z","signed_message":"canonical_sha256_bytes"},"source_id":"2303.13446","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e642bfa535ae779ddfa5982ec49a8bd7aaa185bff64afd945fd6d27460776f3a","sha256:fc757c722908aac72b5fdf0646962bb8c691e0509d24dd859f94c93b6230db5b"],"state_sha256":"080c4aa35a2d37f396bb80d3bf67995e0e9ed795320f7a07072a62b1e89b6491"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lD2cFyY1c8YUpjLq6e4xG1CeV6ZK1tzyxtoE6alLgSicfxOSK3Qx7AGIIokiJJJP6r/1mFkgs4wbcY+E5QeIAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T22:59:19.847585Z","bundle_sha256":"9e59667a99f543a3f4cc5909bc97b4b5115baf2757db467a949cbb09ba1f5ce4"}}