{"as_of":"2026-08-23T17:50:00Z","caps":{"database_statements":6,"inbound":100,"outbound":100},"context_digest":"sha256:bce6ff7d6ed1785c1afba9dafdc09a360751e05b4f825a00915882f67c893586","coverage":[{"denominator":30,"lane":"reference_resolution","note":"Typed states for the displayed outbound observations.","records_observed":30,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-01T07:47:27.487364Z","state":"measured"},{"denominator":30,"lane":"standing_notices","note":"One-hop event checks from named stored sources.","records_observed":30,"source":"scholarly_work_events, retraction_status_cache","source_observed_at":"2026-08-23T06:30:58.430688+00:00","state":"measured"},{"denominator":0,"lane":"inbound_itemization","note":"Pith citing papers itemized under the disclosed page cap.","records_observed":0,"source":"paper_references, paper_reference_links","source_observed_at":null,"state":"measured"},{"denominator":1,"lane":"external_citation_measurements","note":"A source-named dated measurement, never combined with another source.","records_observed":0,"source":"cited_works","source_observed_at":null,"state":"measured"}],"external_citation_measurements":[],"inbound":[],"links":{"evidence":"/evidence","html":"/paper/2607.21341/citation-record","integrity":"/paper/2607.21341/integrity","json":"/paper/2607.21341/citation-record.json","paper":"/paper/2607.21341"},"outbound":[{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:25.883696Z","title":"Fmb: a functional manipulation benchmark for generalizable robotic learning,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":1,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:25.883696Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:5c057f48aa931f243d6a876cd01b619f6b4c30c6c8fbaa490aa5cc60df0e6dea","observation_id":"9c344e8e-5c77-4122-9305-195fad6e9b6d","resolution":{"observed_at":"2026-08-01T07:47:25.883696Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:25.947267Z","title":"Soft regrasping tool inspired by jamming gripper,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":2,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:25.947267Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:0692d5ac1c4bbb70e6e33c3145f65bdbd6ca3607bd09794c08c93b13f2f8f631","observation_id":"73ecd7c7-ad39-4b3b-b980-aeab50101796","resolution":{"observed_at":"2026-08-01T07:47:25.947267Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:26.024028Z","title":"Reorientbot: Learning object reorientation for specific-posed placement,","venue":null,"work_id":null,"year":2022},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":3,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:26.024028Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:1a5850d58fb981f01a3594dbecbdc9807c40eb404db7555c72252da95c15275c","observation_id":"1c1df7c0-0ced-498a-aa95-178d0c67bac0","resolution":{"observed_at":"2026-08-01T07:47:26.024028Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:26.113466Z","title":"Reorientdiff: Diffusion model based reorientation for object manipulation,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":4,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:26.113466Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:dd67e160beb5ce6add0efc78e5157d3f419817ddb989c3d65c3dd1dbce58c99c","observation_id":"12872cdc-59b7-41da-b56f-a59e99ad4582","resolution":{"observed_at":"2026-08-01T07:47:26.113466Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:26.207880Z","title":"Energy-based models,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":5,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:26.207880Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:2cc2a1b5b2a95be876f8e780b260acd5bea69f01327ebf2719775462cb9fde35","observation_id":"9e65cf90-ecdf-4c25-bca3-5a749a2b61f7","resolution":{"observed_at":"2026-08-01T07:47:26.207880Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:26.284351Z","title":"Reduce, reuse, recycle: Compositional generation with energy-based diffusion models and mcmc,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":6,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:26.284351Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:9a699a9c94272fd927ce5accabe98a9482f83d4786b44b88bda8b89c52bbb762","observation_id":"d49bbc45-b4bf-444e-8657-847ea418cb2d","resolution":{"observed_at":"2026-08-01T07:47:26.284351Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:26.376549Z","title":"PDDLStream: Integrating symbolic planners and blackbox samplers via optimistic adaptive planning,","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":7,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:26.376549Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:9719553b884959e07de535081a94d86c9a7a64439e3de3b878531e72134230e8","observation_id":"9a136df1-c7ef-4958-8d20-099029fbfcce","resolution":{"observed_at":"2026-08-01T07:47:26.376549Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:26.406466Z","title":"Learning symbolic operators for task and motion planning,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":8,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:26.406466Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:e6b864847a38738f19a3d9c2e42ea6c13e76144ddc7ecee173df7f47aed4d8d7","observation_id":"d415bfaa-3eb4-4224-b429-b800b85fa51b","resolution":{"observed_at":"2026-08-01T07:47:26.406466Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:26.445323Z","title":"Learn- ing feasibility for task and motion planning in tabletop environments,","venue":null,"work_id":null,"year":2019},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":9,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:26.445323Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:ae5963930fcc8e8534e2301d4c4c34d9230e73060c530cfc081d3f875d130ff0","observation_id":"aded7b05-6de5-475c-9de3-9dbb9b9b190c","resolution":{"observed_at":"2026-08-01T07:47:26.445323Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:26.479958Z","title":"Dall-e-bot: Introducing web- scale diffusion models to robotics,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":10,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:26.479958Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:2e2a155415e72c7823bd3e4a444d4782b4b9aae86400770af2e85eb2aefe059a","observation_id":"f8c43247-135b-43c8-9e17-d7e95f2fffea","resolution":{"observed_at":"2026-08-01T07:47:26.479958Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:26.520717Z","title":"Grasp, see, and place: Efficient unknown object rearrangement with policy structure prior,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":11,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:26.520717Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:ab1fe4f559ce9b33b238773ea5fb700928730c6ead7e94271cc841c28c888b4c","observation_id":"1181571e-a090-4a27-ade0-0227ec9d66e5","resolution":{"observed_at":"2026-08-01T07:47:26.520717Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:26.551806Z","title":"Dream2real: Zero- shot 3d object rearrangement with vision-language models,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":12,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:26.551806Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:72a2fea15a106086b0c9fe82d92e8528040b64dd325493871099f1a89b143327","observation_id":"d15332d1-5c84-48f9-b60b-71f1e1d7f1c0","resolution":{"observed_at":"2026-08-01T07:47:26.551806Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2304.14391","last_updated":"2024-01-23T15:52:28Z","snapshot_observed_at":"2026-08-16T15:37:10.505211Z","submitted_at":"2023-04-27T17:55:13Z","title":"Energy-based Models are Zero-Shot Planners for Compositional Scene Rearrangement","version":4},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2304.14391","snapshot_observed_at":"2026-08-01T07:47:26.636255Z","title":"Energy-based models are zero-shot planners for compositional scene rearrangement,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":13,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:26.636255Z"},"links":{"cited_paper":"/paper/2304.14391","citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:c59bccc43a167de75eede4781d9654678d774cd73e81876a2fc83fb41b9aaf4e","observation_id":"b75561e2-8f2c-4205-a880-4afa7fe26dd6","resolution":{"observed_at":"2026-08-01T07:47:26.636255Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:26.672088Z","title":"“set it up","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":14,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:26.672088Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:8fbeb21de11e82877ef1532261a7994cd35088ec8bd9cfae8b72958d241e8192","observation_id":"a7d37391-0856-43a4-b77a-654e7e072e57","resolution":{"observed_at":"2026-08-01T07:47:26.672088Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:26.707501Z","title":"Learning to assemble with alternative plans,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":15,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:26.707501Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:a293d82518ab34d9dfb7b6be652fa3e8b456cf7681d9b16fc64caebbd3dc17fb","observation_id":"54fa3aa1-81e9-461f-b6d9-58669ec5e9ea","resolution":{"observed_at":"2026-08-01T07:47:26.707501Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:26.743839Z","title":"Adaptive coordinated impedance control for dual-arm robot symmetric bimanual tasks,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":16,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:26.743839Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:a8fa014402407704670928c2a0fdfdf31f3b8015bf2507009ebed0ebd5d16843","observation_id":"f87a0c36-bb20-4475-a4f3-223e5f521d11","resolution":{"observed_at":"2026-08-01T07:47:26.743839Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:26.801338Z","title":"Learning dual-arm object rearrangement for cartesian robots,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":17,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:26.801338Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:abdef8239ba5dc2dd2b6aa1bf99893fa7d006886b0719b3f586c12b7bbfaac90","observation_id":"4bbea4e7-cf0e-475f-a28a-a62008a37d97","resolution":{"observed_at":"2026-08-01T07:47:26.801338Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:26.885434Z","title":"Efficient bimanual han- dover and rearrangement via symmetry-aware actor-critic learning,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":18,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:26.885434Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:15da25af7dd946c45cd3c504a897d5f4e5736095387d8955b71489216cd5e0e0","observation_id":"f15a19e6-f51d-4399-b9da-0bacb388012f","resolution":{"observed_at":"2026-08-01T07:47:26.885434Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:26.926257Z","title":"A tutorial on energy-based learning,","venue":null,"work_id":null,"year":2006},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":19,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:26.926257Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:e61be6dfdc8ec3cdcb6980fa9303d809778c3381c795943db85cd9fd5c95e336","observation_id":"522a4468-3a59-4096-99bb-000cf00da9cb","resolution":{"observed_at":"2026-08-01T07:47:26.926257Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:26.967548Z","title":"Diffusion models: A comprehensive survey of methods and applications,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":20,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:26.967548Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:b1d8282222c26cea2030975c1444f3d3a1f714841efc8cc3369271ad7e3f967a","observation_id":"5076d462-07f9-418b-8582-6b581718ed12","resolution":{"observed_at":"2026-08-01T07:47:26.967548Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:27.002177Z","title":"Implicit generation and modeling with energy based models,","venue":null,"work_id":null,"year":2019},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":21,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:27.002177Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:a39dda0bcfa7d3863399a8a733ee381b11d882a011bf27bc93ffb9945d1ff5fc","observation_id":"42a5e167-6adf-4808-b36b-7c99049fd24b","resolution":{"observed_at":"2026-08-01T07:47:27.002177Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:27.036760Z","title":"Hgdiffuser: efficient task-oriented grasp generation via human-guided grasp diffusion mod- els,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":22,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:27.036760Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:88c89dd60996be50a8bfe3c40587bd8ff8f588b7d8d6fb422255b80e1c6be7f1","observation_id":"4bde2e35-ac05-4366-9567-f7962516a751","resolution":{"observed_at":"2026-08-01T07:47:27.036760Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:27.075196Z","title":"Se (3)- diffusionfields: Learning smooth cost functions for joint grasp and motion optimization through diffusion,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":23,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:27.075196Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:de2f832c9dda4aba8fe567140c819b1929486d68916b7208197bd724a3596558","observation_id":"e11afaee-cbb9-49a4-bec8-2ebeddc7af27","resolution":{"observed_at":"2026-08-01T07:47:27.075196Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:27.176291Z","title":"Denoising diffusion probabilistic models,","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":24,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:27.176291Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:3e378f1d98cab80301eb8807fb33d23e3155b2c11bf66a13493621e7bf9b1f44","observation_id":"b1b11f3d-932a-449a-b790-ff67b405251d","resolution":{"observed_at":"2026-08-01T07:47:27.176291Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2011.13456","last_updated":"2021-02-10T18:17:04Z","snapshot_observed_at":"2026-07-06T02:11:23.670680Z","submitted_at":"2020-11-26T19:39:10Z","title":"Score-Based Generative Modeling through Stochastic Differential Equations","version":2},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2011.13456","snapshot_observed_at":"2026-08-01T07:47:27.211515Z","title":"Score-based generative modeling through stochastic differential equations,","venue":null,"work_id":null,"year":2011},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":25,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:27.211515Z"},"links":{"cited_paper":"/paper/2011.13456","citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:f0c31fe3b98eff44994d23d1705a821189c9373e7902f43adca4f6ff139fb4a9","observation_id":"6fe0f2c2-f516-4c0a-aec0-871da624582a","resolution":{"observed_at":"2026-08-01T07:47:27.211515Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2507.13097","last_updated":"2025-07-17T13:09:28Z","snapshot_observed_at":"2026-08-18T03:48:10.920972Z","submitted_at":"2025-07-17T13:09:28Z","title":"GraspGen: A Diffusion-based Framework for 6-DOF Grasping with On-Generator Training","version":1},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2507.13097","snapshot_observed_at":"2026-08-01T07:47:27.243231Z","title":"Graspgen: A diffusion-based framework for 6-dof grasping with on- generator training,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":26,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:27.243231Z"},"links":{"cited_paper":"/paper/2507.13097","citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:23d2a8a37240f809b5fb16952fb334eb799915995ecc3902346ff51020a82f8c","observation_id":"25a92e2f-19e7-4ff7-a21c-ce061938abc8","resolution":{"observed_at":"2026-08-01T07:47:27.243231Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2010.02502","last_updated":"2022-10-05T20:19:21Z","snapshot_observed_at":"2026-08-11T15:38:14.931716Z","submitted_at":"2020-10-06T06:15:51Z","title":"Denoising Diffusion Implicit Models","version":4},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2010.02502","snapshot_observed_at":"2026-08-01T07:47:27.283918Z","title":"Denoising diffusion implicit models,","venue":null,"work_id":null,"year":2010},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":27,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:27.283918Z"},"links":{"cited_paper":"/paper/2010.02502","citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:fab31172d8c028f8dc7e0fd246adeb0ca89dd97a97fb4ae14646b2160e50f76d","observation_id":"b1ab42b6-e458-44d2-94c8-c769f585de14","resolution":{"observed_at":"2026-08-01T07:47:27.283918Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2310.17274","last_updated":"2023-11-03T17:49:03Z","snapshot_observed_at":"2026-08-19T23:59:57.248281Z","submitted_at":"2023-10-26T09:50:40Z","title":"cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation","version":2},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2310.17274","snapshot_observed_at":"2026-08-01T07:47:27.344296Z","title":"curobo: Parallelized collision-free minimum-jerk robot motion generation,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":28,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:27.344296Z"},"links":{"cited_paper":"/paper/2310.17274","citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:0a007742672d895333699286ca7af77bfe50b2521a7834f8bd37f1c1156c5a61","observation_id":"7f9bce62-da5e-4822-8b0d-a15884504b82","resolution":{"observed_at":"2026-08-01T07:47:27.344296Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:27.374973Z","title":"Inference-time policy steering through human interactions,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":29,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:27.374973Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:6df23ed9ed8eed08a6bbe3b43440d629de6a2fd5267fff62ec527f3fe3a8f7a9","observation_id":"7d2fd7af-2aa6-4481-b41c-f7b4335a2e5f","resolution":{"observed_at":"2026-08-01T07:47:27.374973Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T07:47:27.487364Z","title":"Examining the frictional behavior of primitive contact geometries for use as robotic finger pads,","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization","version":1},"reference_index":30,"source":"pdf_text","source_observed_at":"2026-08-01T07:47:27.487364Z"},"links":{"citing_paper":"/paper/2607.21341"},"observation_digest":"sha256:b9894443a7604fc15cab4e0b9393e40ef20ba32afb5824eaa527dc831c7f21cc","observation_id":"200986f0-7a65-4356-8a0a-ae67427746bd","resolution":{"observed_at":"2026-08-01T07:47:27.487364Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}}],"paper":{"arxiv_id":"2607.21341","last_updated":"2026-07-23T14:11:14Z","latest_version":1,"primary_category":"cs.RO","snapshot_observed_at":"2026-08-18T02:05:34.025059Z","submitted_at":"2026-07-23T14:11:14Z","title":"Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization"},"reference_resolution":{"displayed":30,"state_counts":{"malformed_identifier":0,"metadata_mismatch":0,"parse_uncertain":0,"unresolved":30,"verified_exact":0,"verified_fuzzy":0},"total_outbound_references":30},"refusal":"A citation records a reference. It does not transfer a finding from one paper to another.","schema":"pith.paper-citation-record.v1","standing_sources":[{"observed_at":"2026-08-23T06:30:58.430688+00:00","source":"crossref"},{"observed_at":"2026-08-23T06:30:53.778098+00:00","source":"retraction_watch"}],"thesis":"As of 23 August 2026, this Paper Citation Record lists 30 of 30 outbound references and 0 inbound Pith citation observations for arXiv:2607.21341."}