{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:AGSZ2CU7DGEPZJT2G54P2KTPYJ","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":"88e5fa56dc1bb58a36263759d9e40f681a6bd37d244769c8cc34e7506001ba4d","cross_cats_sorted":["cs.LG","cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-01T10:16:07Z","title_canon_sha256":"a6f060d2f7e98f5b8dcb2d043d586d50a14154658aaf3d749fc96d92dd7fd630"},"schema_version":"1.0","source":{"id":"2606.02027","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.02027","created_at":"2026-06-02T02:05:03Z"},{"alias_kind":"arxiv_version","alias_value":"2606.02027v1","created_at":"2026-06-02T02:05:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.02027","created_at":"2026-06-02T02:05:03Z"},{"alias_kind":"pith_short_12","alias_value":"AGSZ2CU7DGEP","created_at":"2026-06-02T02:05:03Z"},{"alias_kind":"pith_short_16","alias_value":"AGSZ2CU7DGEPZJT2","created_at":"2026-06-02T02:05:03Z"},{"alias_kind":"pith_short_8","alias_value":"AGSZ2CU7","created_at":"2026-06-02T02:05:03Z"}],"graph_snapshots":[{"event_id":"sha256:aa5ba31ace5b62735c35a74536b7d23f6dd966150c7d9e479020b7a48bc499d8","target":"graph","created_at":"2026-06-02T02:05:03Z","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/2606.02027/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robot learning must produce policies that generalize to new combinations of constraints, teammates, and environments. To achieve this, we must structurally factor the policy, which is a choice that dictates what generalizes, what requires retraining, and what remains entangled. Existing methods span a wide spectrum, from expecting structure to emerge from data scaling, to hand-designing it via hierarchies, skill libraries or learned specializations. In this paper, we study what we argue is the most fundamental factorization in robotics: separating the world from the task. We investigate the co","authors_text":"Adrian Pfisterer, Amanda Prorok, Eduardo Sebasti\\'an, Oliver Brock, Vito Mengers","cross_cats":["cs.LG","cs.MA"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-01T10:16:07Z","title":"World-Task Factorization for Robot Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.02027","kind":"arxiv","version":1},"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:b101e03db865b0b0e6b01a8ccd762f90ef8af4cd0f90ef69fce3dfcfb87aea8e","target":"record","created_at":"2026-06-02T02:05:03Z","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":"88e5fa56dc1bb58a36263759d9e40f681a6bd37d244769c8cc34e7506001ba4d","cross_cats_sorted":["cs.LG","cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-01T10:16:07Z","title_canon_sha256":"a6f060d2f7e98f5b8dcb2d043d586d50a14154658aaf3d749fc96d92dd7fd630"},"schema_version":"1.0","source":{"id":"2606.02027","kind":"arxiv","version":1}},"canonical_sha256":"01a59d0a9f1988fca67a3778fd2a6fc26a30487e27c6fd7fd61be8b8565114a5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"01a59d0a9f1988fca67a3778fd2a6fc26a30487e27c6fd7fd61be8b8565114a5","first_computed_at":"2026-06-02T02:05:03.876918Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-02T02:05:03.876918Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"WbiTluaHfE8zJ/NhJVNAl5rN+i1ZnUru/moOkSylfFVkQvFAY4KjD0N7RXloCSOvNSS9Wnm9r5QR9/4/SlwoDg==","signature_status":"signed_v1","signed_at":"2026-06-02T02:05:03.877456Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.02027","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b101e03db865b0b0e6b01a8ccd762f90ef8af4cd0f90ef69fce3dfcfb87aea8e","sha256:aa5ba31ace5b62735c35a74536b7d23f6dd966150c7d9e479020b7a48bc499d8"],"state_sha256":"1ddecf636863881a33ee1bf9c2b526a9a188dcd67bc9d1fa35f049cf3f09eb7a"}