{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:3SIZGW6R4UFRSYXB3AIIQNMAWX","short_pith_number":"pith:3SIZGW6R","canonical_record":{"source":{"id":"2403.08355","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-13T09:12:16Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"487912370634d70cd78eeca1dea0fde1fbfc134798b9dc5a9e749d4e8e099f3f","abstract_canon_sha256":"0f3e4b5751484d7668c5b1a0f7d549279a720974f5034affda246ef1aa47a1fe"},"schema_version":"1.0"},"canonical_sha256":"dc91935bd1e50b1962e1d810883580b5fd3a57537d7bf1b212e891717c08c957","source":{"kind":"arxiv","id":"2403.08355","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.08355","created_at":"2026-07-05T07:55:37Z"},{"alias_kind":"arxiv_version","alias_value":"2403.08355v1","created_at":"2026-07-05T07:55:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.08355","created_at":"2026-07-05T07:55:37Z"},{"alias_kind":"pith_short_12","alias_value":"3SIZGW6R4UFR","created_at":"2026-07-05T07:55:37Z"},{"alias_kind":"pith_short_16","alias_value":"3SIZGW6R4UFRSYXB","created_at":"2026-07-05T07:55:37Z"},{"alias_kind":"pith_short_8","alias_value":"3SIZGW6R","created_at":"2026-07-05T07:55:37Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:3SIZGW6R4UFRSYXB3AIIQNMAWX","target":"record","payload":{"canonical_record":{"source":{"id":"2403.08355","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-13T09:12:16Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"487912370634d70cd78eeca1dea0fde1fbfc134798b9dc5a9e749d4e8e099f3f","abstract_canon_sha256":"0f3e4b5751484d7668c5b1a0f7d549279a720974f5034affda246ef1aa47a1fe"},"schema_version":"1.0"},"canonical_sha256":"dc91935bd1e50b1962e1d810883580b5fd3a57537d7bf1b212e891717c08c957","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:55:37.855548Z","signature_b64":"70oaOrNXzIZ1DddRdEy6CP9rWOFk3oR8SPcb/NNhGrkefdd5hghmhCGV3ya6fuet/6f2jTkQNDQ0BAqVfoqhDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"dc91935bd1e50b1962e1d810883580b5fd3a57537d7bf1b212e891717c08c957","last_reissued_at":"2026-07-05T07:55:37.855079Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:55:37.855079Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.08355","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:55:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"B69zn6RS60SUrNcZnvPBjEGnMY5O2FzCxR8A4vSFndG59m3JnJt+/Hb0kg60P06lpwa+xtFdh/BxUV3UqpMcDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T10:42:01.692576Z"},"content_sha256":"3d2340a13a4911d778cd33c4aa0a9f186cabe1f65f3fc2dfaacad70e86031f84","schema_version":"1.0","event_id":"sha256:3d2340a13a4911d778cd33c4aa0a9f186cabe1f65f3fc2dfaacad70e86031f84"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:3SIZGW6R4UFRSYXB3AIIQNMAWX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"NaturalVLM: Leveraging Fine-grained Natural Language for Affordance-Guided Visual Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Hao Dong, Ran Xu, Ruihai Wu, Xiaoqi Li, Yan Shen","submitted_at":"2024-03-13T09:12:16Z","abstract_excerpt":"Enabling home-assistant robots to perceive and manipulate a diverse range of 3D objects based on human language instructions is a pivotal challenge. Prior research has predominantly focused on simplistic and task-oriented instructions, i.e., \"Slide the top drawer open\". However, many real-world tasks demand intricate multi-step reasoning, and without human instructions, these will become extremely difficult for robot manipulation. To address these challenges, we introduce a comprehensive benchmark, NrVLM, comprising 15 distinct manipulation tasks, containing over 4500 episodes meticulously ann"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.08355","kind":"arxiv","version":1},"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/2403.08355/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":"2026-07-05T07:55:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CDuy1z+3kEbUhChpRe7fo4LO88y0SED4aKnXld45L5CfQWQJyTJlLn+dft6Me4cwPbjDlxsNu1G7s17oamIKCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T10:42:01.694372Z"},"content_sha256":"295843ed350374c3c8c976f102b0c963887c0d71bdcb249e9f96a85053058bae","schema_version":"1.0","event_id":"sha256:295843ed350374c3c8c976f102b0c963887c0d71bdcb249e9f96a85053058bae"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3SIZGW6R4UFRSYXB3AIIQNMAWX/bundle.json","state_url":"https://pith.science/pith/3SIZGW6R4UFRSYXB3AIIQNMAWX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3SIZGW6R4UFRSYXB3AIIQNMAWX/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":"2026-08-20T10:42:01Z","links":{"resolver":"https://pith.science/pith/3SIZGW6R4UFRSYXB3AIIQNMAWX","bundle":"https://pith.science/pith/3SIZGW6R4UFRSYXB3AIIQNMAWX/bundle.json","state":"https://pith.science/pith/3SIZGW6R4UFRSYXB3AIIQNMAWX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3SIZGW6R4UFRSYXB3AIIQNMAWX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:3SIZGW6R4UFRSYXB3AIIQNMAWX","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":"0f3e4b5751484d7668c5b1a0f7d549279a720974f5034affda246ef1aa47a1fe","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-13T09:12:16Z","title_canon_sha256":"487912370634d70cd78eeca1dea0fde1fbfc134798b9dc5a9e749d4e8e099f3f"},"schema_version":"1.0","source":{"id":"2403.08355","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.08355","created_at":"2026-07-05T07:55:37Z"},{"alias_kind":"arxiv_version","alias_value":"2403.08355v1","created_at":"2026-07-05T07:55:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.08355","created_at":"2026-07-05T07:55:37Z"},{"alias_kind":"pith_short_12","alias_value":"3SIZGW6R4UFR","created_at":"2026-07-05T07:55:37Z"},{"alias_kind":"pith_short_16","alias_value":"3SIZGW6R4UFRSYXB","created_at":"2026-07-05T07:55:37Z"},{"alias_kind":"pith_short_8","alias_value":"3SIZGW6R","created_at":"2026-07-05T07:55:37Z"}],"graph_snapshots":[{"event_id":"sha256:295843ed350374c3c8c976f102b0c963887c0d71bdcb249e9f96a85053058bae","target":"graph","created_at":"2026-07-05T07:55:37Z","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/2403.08355/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Enabling home-assistant robots to perceive and manipulate a diverse range of 3D objects based on human language instructions is a pivotal challenge. Prior research has predominantly focused on simplistic and task-oriented instructions, i.e., \"Slide the top drawer open\". However, many real-world tasks demand intricate multi-step reasoning, and without human instructions, these will become extremely difficult for robot manipulation. To address these challenges, we introduce a comprehensive benchmark, NrVLM, comprising 15 distinct manipulation tasks, containing over 4500 episodes meticulously ann","authors_text":"Hao Dong, Ran Xu, Ruihai Wu, Xiaoqi Li, Yan Shen","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-13T09:12:16Z","title":"NaturalVLM: Leveraging Fine-grained Natural Language for Affordance-Guided Visual Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.08355","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":"sha256:3d2340a13a4911d778cd33c4aa0a9f186cabe1f65f3fc2dfaacad70e86031f84","target":"record","created_at":"2026-07-05T07:55:37Z","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":"0f3e4b5751484d7668c5b1a0f7d549279a720974f5034affda246ef1aa47a1fe","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-13T09:12:16Z","title_canon_sha256":"487912370634d70cd78eeca1dea0fde1fbfc134798b9dc5a9e749d4e8e099f3f"},"schema_version":"1.0","source":{"id":"2403.08355","kind":"arxiv","version":1}},"canonical_sha256":"dc91935bd1e50b1962e1d810883580b5fd3a57537d7bf1b212e891717c08c957","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dc91935bd1e50b1962e1d810883580b5fd3a57537d7bf1b212e891717c08c957","first_computed_at":"2026-07-05T07:55:37.855079Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:55:37.855079Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"70oaOrNXzIZ1DddRdEy6CP9rWOFk3oR8SPcb/NNhGrkefdd5hghmhCGV3ya6fuet/6f2jTkQNDQ0BAqVfoqhDA==","signature_status":"signed_v1","signed_at":"2026-07-05T07:55:37.855548Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.08355","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3d2340a13a4911d778cd33c4aa0a9f186cabe1f65f3fc2dfaacad70e86031f84","sha256:295843ed350374c3c8c976f102b0c963887c0d71bdcb249e9f96a85053058bae"],"state_sha256":"55f1a307594cea1157d7518e03b2e3ba69e2f0717e706f8adc4273d693e11d23"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0RMa0h4gVOtDIZP2rVOv4uN5EpfWzNrEcEl9pmA9wwTiFEipcuS7tZBiQve53NaoAb0i8l3djVmr3Hwwq98LAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T10:42:01.700083Z","bundle_sha256":"099ae6087a89c85b0e4fd21b3b1f3f5c0ea0088ab5503e1341662770c489bc7c"}}