{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:4K6L75SGQ3LXZ3LENC63MULINS","short_pith_number":"pith:4K6L75SG","schema_version":"1.0","canonical_sha256":"e2bcbff64686d77ced6468bdb651686c81d4483a0c4d9ae8ec6c17ad2f943ff3","source":{"kind":"arxiv","id":"2607.08948","version":1},"attestation_state":"computed","paper":{"title":"SplatCtrl: Perception-Action Coupling via Gaussian Scene Representations and Reactive Robot Control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Ho Jin Choi, Siddarth Jain","submitted_at":"2026-07-09T21:18:39Z","abstract_excerpt":"Robotic manipulators excel in structured environments but face substantial challenges in unstructured and dynamic settings. This paper presents SplatCtrl, a unified framework for real-time scene reconstruction and reactive robot motion generation to enable collision-free robotic arm control in previously unseen and continuously changing environments. Building on 3D Gaussian Splatting (3D-GS), we introduce a hybrid voxel-based filtering and dynamic Gaussian relocation strategy that supports efficient scene reconstruction from RGB-D streams while accommodating environmental changes. For safe and"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2607.08948","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-09T21:18:39Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"12cfe961829197abe91212f5f26259e52af7c84f8c190376fd976ba6a8ed5b00","abstract_canon_sha256":"9de97b2abdfb8900d6cf3e9088a63cc1721494a03f0577c60ca2a191e34adf20"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-13T00:17:29.087377Z","signature_b64":"tMtymZOoq12WicwTqDbkMH3yV0OS+sTK0VIbQr89i6ca+cbCodV1xz3wLpzQf6D2+TgK/alCE3o94sndQPH5AQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e2bcbff64686d77ced6468bdb651686c81d4483a0c4d9ae8ec6c17ad2f943ff3","last_reissued_at":"2026-07-13T00:17:29.086223Z","signature_status":"signed_v1","first_computed_at":"2026-07-13T00:17:29.086223Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"SplatCtrl: Perception-Action Coupling via Gaussian Scene Representations and Reactive Robot Control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Ho Jin Choi, Siddarth Jain","submitted_at":"2026-07-09T21:18:39Z","abstract_excerpt":"Robotic manipulators excel in structured environments but face substantial challenges in unstructured and dynamic settings. This paper presents SplatCtrl, a unified framework for real-time scene reconstruction and reactive robot motion generation to enable collision-free robotic arm control in previously unseen and continuously changing environments. Building on 3D Gaussian Splatting (3D-GS), we introduce a hybrid voxel-based filtering and dynamic Gaussian relocation strategy that supports efficient scene reconstruction from RGB-D streams while accommodating environmental changes. For safe and"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.08948","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/2607.08948/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2607.08948","created_at":"2026-07-13T00:17:29.086814+00:00"},{"alias_kind":"arxiv_version","alias_value":"2607.08948v1","created_at":"2026-07-13T00:17:29.086814+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.08948","created_at":"2026-07-13T00:17:29.086814+00:00"},{"alias_kind":"pith_short_12","alias_value":"4K6L75SGQ3LX","created_at":"2026-07-13T00:17:29.086814+00:00"},{"alias_kind":"pith_short_16","alias_value":"4K6L75SGQ3LXZ3LE","created_at":"2026-07-13T00:17:29.086814+00:00"},{"alias_kind":"pith_short_8","alias_value":"4K6L75SG","created_at":"2026-07-13T00:17:29.086814+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/4K6L75SGQ3LXZ3LENC63MULINS","json":"https://pith.science/pith/4K6L75SGQ3LXZ3LENC63MULINS.json","graph_json":"https://pith.science/api/pith-number/4K6L75SGQ3LXZ3LENC63MULINS/graph.json","events_json":"https://pith.science/api/pith-number/4K6L75SGQ3LXZ3LENC63MULINS/events.json","paper":"https://pith.science/paper/4K6L75SG"},"agent_actions":{"view_html":"https://pith.science/pith/4K6L75SGQ3LXZ3LENC63MULINS","download_json":"https://pith.science/pith/4K6L75SGQ3LXZ3LENC63MULINS.json","view_paper":"https://pith.science/paper/4K6L75SG","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2607.08948&json=true","fetch_graph":"https://pith.science/api/pith-number/4K6L75SGQ3LXZ3LENC63MULINS/graph.json","fetch_events":"https://pith.science/api/pith-number/4K6L75SGQ3LXZ3LENC63MULINS/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/4K6L75SGQ3LXZ3LENC63MULINS/action/timestamp_anchor","attest_storage":"https://pith.science/pith/4K6L75SGQ3LXZ3LENC63MULINS/action/storage_attestation","attest_author":"https://pith.science/pith/4K6L75SGQ3LXZ3LENC63MULINS/action/author_attestation","sign_citation":"https://pith.science/pith/4K6L75SGQ3LXZ3LENC63MULINS/action/citation_signature","submit_replication":"https://pith.science/pith/4K6L75SGQ3LXZ3LENC63MULINS/action/replication_record"}},"created_at":"2026-07-13T00:17:29.086814+00:00","updated_at":"2026-07-13T00:17:29.086814+00:00"}