{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:2LFCJQTB2I7H4XFSPXSMMCH2BE","short_pith_number":"pith:2LFCJQTB","canonical_record":{"source":{"id":"2401.14403","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-25T18:59:44Z","cross_cats_sorted":["cs.AI","cs.CV","cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"e0b68d02e30a261aea1c77925418b90077f5b7fa16bba234ea7213507b5b70c9","abstract_canon_sha256":"8dcb2e0206e319f2e3c6ecfea72a46ca56eec2cda54319916ab155a35379f549"},"schema_version":"1.0"},"canonical_sha256":"d2ca24c261d23e7e5cb27de4c608fa0916dd680028f937fc1a1c4f9bbea4ad1a","source":{"kind":"arxiv","id":"2401.14403","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2401.14403","created_at":"2026-07-05T07:38:35Z"},{"alias_kind":"arxiv_version","alias_value":"2401.14403v2","created_at":"2026-07-05T07:38:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2401.14403","created_at":"2026-07-05T07:38:35Z"},{"alias_kind":"pith_short_12","alias_value":"2LFCJQTB2I7H","created_at":"2026-07-05T07:38:35Z"},{"alias_kind":"pith_short_16","alias_value":"2LFCJQTB2I7H4XFS","created_at":"2026-07-05T07:38:35Z"},{"alias_kind":"pith_short_8","alias_value":"2LFCJQTB","created_at":"2026-07-05T07:38:35Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:2LFCJQTB2I7H4XFSPXSMMCH2BE","target":"record","payload":{"canonical_record":{"source":{"id":"2401.14403","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-25T18:59:44Z","cross_cats_sorted":["cs.AI","cs.CV","cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"e0b68d02e30a261aea1c77925418b90077f5b7fa16bba234ea7213507b5b70c9","abstract_canon_sha256":"8dcb2e0206e319f2e3c6ecfea72a46ca56eec2cda54319916ab155a35379f549"},"schema_version":"1.0"},"canonical_sha256":"d2ca24c261d23e7e5cb27de4c608fa0916dd680028f937fc1a1c4f9bbea4ad1a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:38:35.159377Z","signature_b64":"e5XOf0Qp1i33kjAZpjAzFoTSZseb4kzrf0/SKvrQdwNh0qrNnfiObyBFeyDl8M6ZfQYRCPP+tJHN9QJ8epwnCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d2ca24c261d23e7e5cb27de4c608fa0916dd680028f937fc1a1c4f9bbea4ad1a","last_reissued_at":"2026-07-05T07:38:35.158894Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:38:35.158894Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2401.14403","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":"2026-07-05T07:38:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jfRtkKo3k1NLqp+EmrBtykeyByxYhRTSVqtp5N7ftjl/1u1JkSIcIEL32fYTM2MMD8dGiZ0rd1ERh6NxrdNDBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T07:21:04.397594Z"},"content_sha256":"55fddd6402596725239c9967aac15186cd5052e14ee3fe1be75bad85dbcf3b02","schema_version":"1.0","event_id":"sha256:55fddd6402596725239c9967aac15186cd5052e14ee3fe1be75bad85dbcf3b02"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:2LFCJQTB2I7H4XFSPXSMMCH2BE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Adaptive Mobile Manipulation for Articulated Objects In the Open World","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.CV","cs.LG","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Deepak Pathak, Haoyu Xiong, Kenneth Shaw, Russell Mendonca","submitted_at":"2024-01-25T18:59:44Z","abstract_excerpt":"Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is restricted to pick-move-place, which is arguably just the tip of the iceberg in this area. In this paper, we introduce Open-World Mobile Manipulation System, a full-stack approach to tackle realistic articulated object operation, e.g. real-world doors, cabinets, drawers, and refrigerators in open-ended unstructured environments. The robot utilizes an adaptive learning framework "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.14403","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/2401.14403/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":"2026-07-05T07:38:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"D97gC6Hq+lxbhl7A8deeJfiEITDZ/brn3rnZdeHaO9UiULKI+fwywrOXlIsz12PDGGNpCp3xPCiWDIElLORiAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T07:21:04.398104Z"},"content_sha256":"c10f633e9ace5cd5152fcd39db60d45d8a5899ed20678ec48d7ad978c852a22c","schema_version":"1.0","event_id":"sha256:c10f633e9ace5cd5152fcd39db60d45d8a5899ed20678ec48d7ad978c852a22c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2LFCJQTB2I7H4XFSPXSMMCH2BE/bundle.json","state_url":"https://pith.science/pith/2LFCJQTB2I7H4XFSPXSMMCH2BE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2LFCJQTB2I7H4XFSPXSMMCH2BE/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":"2026-08-09T07:21:04Z","links":{"resolver":"https://pith.science/pith/2LFCJQTB2I7H4XFSPXSMMCH2BE","bundle":"https://pith.science/pith/2LFCJQTB2I7H4XFSPXSMMCH2BE/bundle.json","state":"https://pith.science/pith/2LFCJQTB2I7H4XFSPXSMMCH2BE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2LFCJQTB2I7H4XFSPXSMMCH2BE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:2LFCJQTB2I7H4XFSPXSMMCH2BE","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":"8dcb2e0206e319f2e3c6ecfea72a46ca56eec2cda54319916ab155a35379f549","cross_cats_sorted":["cs.AI","cs.CV","cs.LG","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-25T18:59:44Z","title_canon_sha256":"e0b68d02e30a261aea1c77925418b90077f5b7fa16bba234ea7213507b5b70c9"},"schema_version":"1.0","source":{"id":"2401.14403","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2401.14403","created_at":"2026-07-05T07:38:35Z"},{"alias_kind":"arxiv_version","alias_value":"2401.14403v2","created_at":"2026-07-05T07:38:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2401.14403","created_at":"2026-07-05T07:38:35Z"},{"alias_kind":"pith_short_12","alias_value":"2LFCJQTB2I7H","created_at":"2026-07-05T07:38:35Z"},{"alias_kind":"pith_short_16","alias_value":"2LFCJQTB2I7H4XFS","created_at":"2026-07-05T07:38:35Z"},{"alias_kind":"pith_short_8","alias_value":"2LFCJQTB","created_at":"2026-07-05T07:38:35Z"}],"graph_snapshots":[{"event_id":"sha256:c10f633e9ace5cd5152fcd39db60d45d8a5899ed20678ec48d7ad978c852a22c","target":"graph","created_at":"2026-07-05T07:38:35Z","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/2401.14403/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is restricted to pick-move-place, which is arguably just the tip of the iceberg in this area. In this paper, we introduce Open-World Mobile Manipulation System, a full-stack approach to tackle realistic articulated object operation, e.g. real-world doors, cabinets, drawers, and refrigerators in open-ended unstructured environments. The robot utilizes an adaptive learning framework ","authors_text":"Deepak Pathak, Haoyu Xiong, Kenneth Shaw, Russell Mendonca","cross_cats":["cs.AI","cs.CV","cs.LG","cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-25T18:59:44Z","title":"Adaptive Mobile Manipulation for Articulated Objects In the Open World"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.14403","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":"sha256:55fddd6402596725239c9967aac15186cd5052e14ee3fe1be75bad85dbcf3b02","target":"record","created_at":"2026-07-05T07:38:35Z","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":"8dcb2e0206e319f2e3c6ecfea72a46ca56eec2cda54319916ab155a35379f549","cross_cats_sorted":["cs.AI","cs.CV","cs.LG","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-25T18:59:44Z","title_canon_sha256":"e0b68d02e30a261aea1c77925418b90077f5b7fa16bba234ea7213507b5b70c9"},"schema_version":"1.0","source":{"id":"2401.14403","kind":"arxiv","version":2}},"canonical_sha256":"d2ca24c261d23e7e5cb27de4c608fa0916dd680028f937fc1a1c4f9bbea4ad1a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d2ca24c261d23e7e5cb27de4c608fa0916dd680028f937fc1a1c4f9bbea4ad1a","first_computed_at":"2026-07-05T07:38:35.158894Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:38:35.158894Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"e5XOf0Qp1i33kjAZpjAzFoTSZseb4kzrf0/SKvrQdwNh0qrNnfiObyBFeyDl8M6ZfQYRCPP+tJHN9QJ8epwnCw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:38:35.159377Z","signed_message":"canonical_sha256_bytes"},"source_id":"2401.14403","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:55fddd6402596725239c9967aac15186cd5052e14ee3fe1be75bad85dbcf3b02","sha256:c10f633e9ace5cd5152fcd39db60d45d8a5899ed20678ec48d7ad978c852a22c"],"state_sha256":"fa1dc806214f70cac83ef38da36323c73704cc1d259d58231659c772294bb47f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YZDBpPNWCM9Ad97WL6iou84gsV+QOVb4Oju4md8xxMPlZkg7d81KrUVhT3pVnf1qD4HydQ+f5i8cClCcO6rzDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T07:21:04.402452Z","bundle_sha256":"914735a24315e73fff7d13f1678b8094f6748a647cf0724dee1fd290838b1222"}}