{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:2MSRWC4KGXMGJDKDU6PMCMKMFB","short_pith_number":"pith:2MSRWC4K","canonical_record":{"source":{"id":"2402.15038","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-23T01:19:30Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"d26e1e6ce69190b197679ddca5f0af394cb144cb60199957decd3dc817ea73ad","abstract_canon_sha256":"2a280c08351cb1354571b6f1e30dfeae9048003b0bc308bccfa6a705eb09b392"},"schema_version":"1.0"},"canonical_sha256":"d3251b0b8a35d8648d43a79ec1314c28731a0fd19d1a520168b8402c84cdad5e","source":{"kind":"arxiv","id":"2402.15038","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.15038","created_at":"2026-07-05T10:40:33Z"},{"alias_kind":"arxiv_version","alias_value":"2402.15038v2","created_at":"2026-07-05T10:40:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.15038","created_at":"2026-07-05T10:40:33Z"},{"alias_kind":"pith_short_12","alias_value":"2MSRWC4KGXMG","created_at":"2026-07-05T10:40:33Z"},{"alias_kind":"pith_short_16","alias_value":"2MSRWC4KGXMGJDKD","created_at":"2026-07-05T10:40:33Z"},{"alias_kind":"pith_short_8","alias_value":"2MSRWC4K","created_at":"2026-07-05T10:40:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:2MSRWC4KGXMGJDKDU6PMCMKMFB","target":"record","payload":{"canonical_record":{"source":{"id":"2402.15038","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-23T01:19:30Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"d26e1e6ce69190b197679ddca5f0af394cb144cb60199957decd3dc817ea73ad","abstract_canon_sha256":"2a280c08351cb1354571b6f1e30dfeae9048003b0bc308bccfa6a705eb09b392"},"schema_version":"1.0"},"canonical_sha256":"d3251b0b8a35d8648d43a79ec1314c28731a0fd19d1a520168b8402c84cdad5e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:40:33.189133Z","signature_b64":"Sngb7wxEIlyw8HYJQqlaaYitTGLavtRgk/Wmx/SYlgwUvSSsDF9QWcFGu2+yRQBETFW5dHQ34fm/FVt84tn9Dw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d3251b0b8a35d8648d43a79ec1314c28731a0fd19d1a520168b8402c84cdad5e","last_reissued_at":"2026-07-05T10:40:33.188642Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:40:33.188642Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2402.15038","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":"2026-07-05T10:40:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"STnMs6PjBwnZyY9TR6xEJhoN0V8f2JrrPndimfJr9zvSPK59eHLX4Pgix9WwQTIFZS2uwnG26vFSgw0AOrjYAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T15:30:08.093309Z"},"content_sha256":"62925fa0dc1f1438e281cada4f3c65f1aa560f56f37d6773e86aac3cd1de17d5","schema_version":"1.0","event_id":"sha256:62925fa0dc1f1438e281cada4f3c65f1aa560f56f37d6773e86aac3cd1de17d5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:2MSRWC4KGXMGJDKDU6PMCMKMFB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Dynamics-Guided Diffusion Model for Sensor-less Robot Manipulator Design","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Huy Ha, Shuran Song, Xiaomeng Xu","submitted_at":"2024-02-23T01:19:30Z","abstract_excerpt":"We present Dynamics-Guided Diffusion Model (DGDM), a data-driven framework for generating task-specific manipulator designs without task-specific training. Given object shapes and task specifications, DGDM generates sensor-less manipulator designs that can blindly manipulate objects towards desired motions and poses using an open-loop parallel motion. This framework 1) flexibly represents manipulation tasks as interaction profiles, 2) represents the design space using a geometric diffusion model, and 3) efficiently searches this design space using the gradients provided by a dynamics network t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.15038","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/2402.15038/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":"2026-07-05T10:40:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iWZL1iTKaumdtTT6J3cLapi1gLZ/BdMrRd9q+7yiNatIzUR463d8SYr+vFh22G3XjxYbGLmBzLwvHqNNt/4JDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T15:30:08.093814Z"},"content_sha256":"ad1768477a1291abdcfb8a3d57c117be65e0f8c423b978f60be62f05fccafd73","schema_version":"1.0","event_id":"sha256:ad1768477a1291abdcfb8a3d57c117be65e0f8c423b978f60be62f05fccafd73"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2MSRWC4KGXMGJDKDU6PMCMKMFB/bundle.json","state_url":"https://pith.science/pith/2MSRWC4KGXMGJDKDU6PMCMKMFB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2MSRWC4KGXMGJDKDU6PMCMKMFB/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":"2026-08-03T15:30:08Z","links":{"resolver":"https://pith.science/pith/2MSRWC4KGXMGJDKDU6PMCMKMFB","bundle":"https://pith.science/pith/2MSRWC4KGXMGJDKDU6PMCMKMFB/bundle.json","state":"https://pith.science/pith/2MSRWC4KGXMGJDKDU6PMCMKMFB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2MSRWC4KGXMGJDKDU6PMCMKMFB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:2MSRWC4KGXMGJDKDU6PMCMKMFB","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":"2a280c08351cb1354571b6f1e30dfeae9048003b0bc308bccfa6a705eb09b392","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-23T01:19:30Z","title_canon_sha256":"d26e1e6ce69190b197679ddca5f0af394cb144cb60199957decd3dc817ea73ad"},"schema_version":"1.0","source":{"id":"2402.15038","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.15038","created_at":"2026-07-05T10:40:33Z"},{"alias_kind":"arxiv_version","alias_value":"2402.15038v2","created_at":"2026-07-05T10:40:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.15038","created_at":"2026-07-05T10:40:33Z"},{"alias_kind":"pith_short_12","alias_value":"2MSRWC4KGXMG","created_at":"2026-07-05T10:40:33Z"},{"alias_kind":"pith_short_16","alias_value":"2MSRWC4KGXMGJDKD","created_at":"2026-07-05T10:40:33Z"},{"alias_kind":"pith_short_8","alias_value":"2MSRWC4K","created_at":"2026-07-05T10:40:33Z"}],"graph_snapshots":[{"event_id":"sha256:ad1768477a1291abdcfb8a3d57c117be65e0f8c423b978f60be62f05fccafd73","target":"graph","created_at":"2026-07-05T10:40:33Z","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/2402.15038/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present Dynamics-Guided Diffusion Model (DGDM), a data-driven framework for generating task-specific manipulator designs without task-specific training. Given object shapes and task specifications, DGDM generates sensor-less manipulator designs that can blindly manipulate objects towards desired motions and poses using an open-loop parallel motion. This framework 1) flexibly represents manipulation tasks as interaction profiles, 2) represents the design space using a geometric diffusion model, and 3) efficiently searches this design space using the gradients provided by a dynamics network t","authors_text":"Huy Ha, Shuran Song, Xiaomeng Xu","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-23T01:19:30Z","title":"Dynamics-Guided Diffusion Model for Sensor-less Robot Manipulator Design"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.15038","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":"sha256:62925fa0dc1f1438e281cada4f3c65f1aa560f56f37d6773e86aac3cd1de17d5","target":"record","created_at":"2026-07-05T10:40:33Z","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":"2a280c08351cb1354571b6f1e30dfeae9048003b0bc308bccfa6a705eb09b392","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-02-23T01:19:30Z","title_canon_sha256":"d26e1e6ce69190b197679ddca5f0af394cb144cb60199957decd3dc817ea73ad"},"schema_version":"1.0","source":{"id":"2402.15038","kind":"arxiv","version":2}},"canonical_sha256":"d3251b0b8a35d8648d43a79ec1314c28731a0fd19d1a520168b8402c84cdad5e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d3251b0b8a35d8648d43a79ec1314c28731a0fd19d1a520168b8402c84cdad5e","first_computed_at":"2026-07-05T10:40:33.188642Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:40:33.188642Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Sngb7wxEIlyw8HYJQqlaaYitTGLavtRgk/Wmx/SYlgwUvSSsDF9QWcFGu2+yRQBETFW5dHQ34fm/FVt84tn9Dw==","signature_status":"signed_v1","signed_at":"2026-07-05T10:40:33.189133Z","signed_message":"canonical_sha256_bytes"},"source_id":"2402.15038","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:62925fa0dc1f1438e281cada4f3c65f1aa560f56f37d6773e86aac3cd1de17d5","sha256:ad1768477a1291abdcfb8a3d57c117be65e0f8c423b978f60be62f05fccafd73"],"state_sha256":"447cc2a4681865235daea92c06dd9f26558ee033414fac7b4ed7449739de32bf"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"T8HhpbCrES1aXF8i88it3ooyPUtv/xumSAU4qNL/KAfpZ5lxtkz39F5KYM3Rd1nIctFbgpYZyEH9eMb53s/dAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T15:30:08.100306Z","bundle_sha256":"aa014f2911619f5046ec3ebb07db19f235bcc56cad4b177bde8cb8d8d2908eee"}}