{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:NJUP2QFTQLKIBHLGL7LH2F25TX","short_pith_number":"pith:NJUP2QFT","canonical_record":{"source":{"id":"2510.11103","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-10-13T07:49:21Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"24571715595c8a1f45af598f550dde88ba2c771ba84ef8ce1d5a452a3a5d1c58","abstract_canon_sha256":"46b4664f294d044bc95e5d9fcc4ac911b5e7afb8485012fd3abf1b7e3937b9e7"},"schema_version":"1.0"},"canonical_sha256":"6a68fd40b382d4809d665fd67d175d9dc8f6bc4759dc916c2a53aaabf0569cc8","source":{"kind":"arxiv","id":"2510.11103","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2510.11103","created_at":"2026-06-29T01:14:24Z"},{"alias_kind":"arxiv_version","alias_value":"2510.11103v3","created_at":"2026-06-29T01:14:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2510.11103","created_at":"2026-06-29T01:14:24Z"},{"alias_kind":"pith_short_12","alias_value":"NJUP2QFTQLKI","created_at":"2026-06-29T01:14:24Z"},{"alias_kind":"pith_short_16","alias_value":"NJUP2QFTQLKIBHLG","created_at":"2026-06-29T01:14:24Z"},{"alias_kind":"pith_short_8","alias_value":"NJUP2QFT","created_at":"2026-06-29T01:14:24Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:NJUP2QFTQLKIBHLGL7LH2F25TX","target":"record","payload":{"canonical_record":{"source":{"id":"2510.11103","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-10-13T07:49:21Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"24571715595c8a1f45af598f550dde88ba2c771ba84ef8ce1d5a452a3a5d1c58","abstract_canon_sha256":"46b4664f294d044bc95e5d9fcc4ac911b5e7afb8485012fd3abf1b7e3937b9e7"},"schema_version":"1.0"},"canonical_sha256":"6a68fd40b382d4809d665fd67d175d9dc8f6bc4759dc916c2a53aaabf0569cc8","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-29T01:14:24.855450Z","signature_b64":"vVsblA/UDtv0R0Z6x6IKqyhFGnSZMbXkwfIsqjZRLzy0entt1T9DHNm5atbV4H8CxGZxrmbBg5O/FJyjRLSaCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6a68fd40b382d4809d665fd67d175d9dc8f6bc4759dc916c2a53aaabf0569cc8","last_reissued_at":"2026-06-29T01:14:24.854847Z","signature_status":"signed_v1","first_computed_at":"2026-06-29T01:14:24.854847Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2510.11103","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":"2026-06-29T01:14:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zqOm2lQeekSBsIUGZMmzzsvppSCWuINyxv9jnuPTQKLG2rLDtwTGLn49aE9liVQx+/CBkbNg5ayR1Q/cSVSMAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-02T12:53:45.844099Z"},"content_sha256":"e5f0da76643cf14a66eb0a87648ada57f4622259ff4e6fcbded66bfd81ee7de8","schema_version":"1.0","event_id":"sha256:e5f0da76643cf14a66eb0a87648ada57f4622259ff4e6fcbded66bfd81ee7de8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:NJUP2QFTQLKIBHLGL7LH2F25TX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Primer on SO(3) Action Representations in Deep Reinforcement Learning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Angela P. Schoellig, Martin Schuck, Sherif Samy","submitted_at":"2025-10-13T07:49:21Z","abstract_excerpt":"Many robotic control tasks require policies to act on orientations, yet the geometry of SO(3) makes this nontrivial. Because SO(3) admits no global, smooth, minimal parameterization, common representations such as Euler angles, quaternions, rotation matrices, and Lie algebra coordinates introduce distinct constraints and failure modes. While these trade-offs are well studied for supervised learning, their implications for actions in reinforcement learning remain unclear. We systematically evaluate SO(3) action representations across three standard continuous control algorithms, PPO, SAC, and T"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2510.11103","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/2510.11103/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":"2026-06-29T01:14:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2TpIsXremwuLPkEiwUejshGShNb2VhxFj2aQY/69cDndResO7PtUqMM9Zn3hoIrcZd+0mn0ekz2h97TRORfzBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-02T12:53:45.844486Z"},"content_sha256":"6a1618b6aaaf63563d954751e8a5af762f1860893f2063fcd91694c66720a318","schema_version":"1.0","event_id":"sha256:6a1618b6aaaf63563d954751e8a5af762f1860893f2063fcd91694c66720a318"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/NJUP2QFTQLKIBHLGL7LH2F25TX/bundle.json","state_url":"https://pith.science/pith/NJUP2QFTQLKIBHLGL7LH2F25TX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/NJUP2QFTQLKIBHLGL7LH2F25TX/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":"2026-07-02T12:53:45Z","links":{"resolver":"https://pith.science/pith/NJUP2QFTQLKIBHLGL7LH2F25TX","bundle":"https://pith.science/pith/NJUP2QFTQLKIBHLGL7LH2F25TX/bundle.json","state":"https://pith.science/pith/NJUP2QFTQLKIBHLGL7LH2F25TX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/NJUP2QFTQLKIBHLGL7LH2F25TX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:NJUP2QFTQLKIBHLGL7LH2F25TX","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":"46b4664f294d044bc95e5d9fcc4ac911b5e7afb8485012fd3abf1b7e3937b9e7","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-10-13T07:49:21Z","title_canon_sha256":"24571715595c8a1f45af598f550dde88ba2c771ba84ef8ce1d5a452a3a5d1c58"},"schema_version":"1.0","source":{"id":"2510.11103","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2510.11103","created_at":"2026-06-29T01:14:24Z"},{"alias_kind":"arxiv_version","alias_value":"2510.11103v3","created_at":"2026-06-29T01:14:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2510.11103","created_at":"2026-06-29T01:14:24Z"},{"alias_kind":"pith_short_12","alias_value":"NJUP2QFTQLKI","created_at":"2026-06-29T01:14:24Z"},{"alias_kind":"pith_short_16","alias_value":"NJUP2QFTQLKIBHLG","created_at":"2026-06-29T01:14:24Z"},{"alias_kind":"pith_short_8","alias_value":"NJUP2QFT","created_at":"2026-06-29T01:14:24Z"}],"graph_snapshots":[{"event_id":"sha256:6a1618b6aaaf63563d954751e8a5af762f1860893f2063fcd91694c66720a318","target":"graph","created_at":"2026-06-29T01:14:24Z","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/2510.11103/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Many robotic control tasks require policies to act on orientations, yet the geometry of SO(3) makes this nontrivial. Because SO(3) admits no global, smooth, minimal parameterization, common representations such as Euler angles, quaternions, rotation matrices, and Lie algebra coordinates introduce distinct constraints and failure modes. While these trade-offs are well studied for supervised learning, their implications for actions in reinforcement learning remain unclear. We systematically evaluate SO(3) action representations across three standard continuous control algorithms, PPO, SAC, and T","authors_text":"Angela P. Schoellig, Martin Schuck, Sherif Samy","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-10-13T07:49:21Z","title":"A Primer on SO(3) Action Representations in Deep Reinforcement Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2510.11103","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:e5f0da76643cf14a66eb0a87648ada57f4622259ff4e6fcbded66bfd81ee7de8","target":"record","created_at":"2026-06-29T01:14:24Z","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":"46b4664f294d044bc95e5d9fcc4ac911b5e7afb8485012fd3abf1b7e3937b9e7","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-10-13T07:49:21Z","title_canon_sha256":"24571715595c8a1f45af598f550dde88ba2c771ba84ef8ce1d5a452a3a5d1c58"},"schema_version":"1.0","source":{"id":"2510.11103","kind":"arxiv","version":3}},"canonical_sha256":"6a68fd40b382d4809d665fd67d175d9dc8f6bc4759dc916c2a53aaabf0569cc8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6a68fd40b382d4809d665fd67d175d9dc8f6bc4759dc916c2a53aaabf0569cc8","first_computed_at":"2026-06-29T01:14:24.854847Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-29T01:14:24.854847Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"vVsblA/UDtv0R0Z6x6IKqyhFGnSZMbXkwfIsqjZRLzy0entt1T9DHNm5atbV4H8CxGZxrmbBg5O/FJyjRLSaCw==","signature_status":"signed_v1","signed_at":"2026-06-29T01:14:24.855450Z","signed_message":"canonical_sha256_bytes"},"source_id":"2510.11103","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e5f0da76643cf14a66eb0a87648ada57f4622259ff4e6fcbded66bfd81ee7de8","sha256:6a1618b6aaaf63563d954751e8a5af762f1860893f2063fcd91694c66720a318"],"state_sha256":"068cdf9a0490d201d7f851e67b2401a972772d50fcebca74863f1e92c057789c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KKjCT/Czp7brH3LkqY+5/m6u8uR3OfSqRCNQ8gE+0Kjm4jYeoVXNacUuzZeNab3meJ+x8URHb+KHSnvlO40hCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-02T12:53:45.846490Z","bundle_sha256":"3b90e5003a06f068183ed3c4e01407852e564d5291a6633d132eefc3a965b702"}}