{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:54DJSR6DQXAIOC6DIBN75XMYXM","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":"450b44f43d8d5826bc64c73e743e45df1b0d21ef54660493cc277731eb30d94f","cross_cats_sorted":["cs.CV","cs.LG","cs.SE"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-19T23:42:03Z","title_canon_sha256":"ed53641d597fd2183e69cc060bc680aa8db622a70c85dcd6d14d481cfbdd4025"},"schema_version":"1.0","source":{"id":"2506.16652","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.16652","created_at":"2026-07-05T11:24:40Z"},{"alias_kind":"arxiv_version","alias_value":"2506.16652v1","created_at":"2026-07-05T11:24:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.16652","created_at":"2026-07-05T11:24:40Z"},{"alias_kind":"pith_short_12","alias_value":"54DJSR6DQXAI","created_at":"2026-07-05T11:24:40Z"},{"alias_kind":"pith_short_16","alias_value":"54DJSR6DQXAIOC6D","created_at":"2026-07-05T11:24:40Z"},{"alias_kind":"pith_short_8","alias_value":"54DJSR6D","created_at":"2026-07-05T11:24:40Z"}],"graph_snapshots":[{"event_id":"sha256:d91b234bfcbc0332121d8ca4c10cd46688a3ba311c9a9fcb77a2e8f89a945a21","target":"graph","created_at":"2026-07-05T11:24:40Z","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/2506.16652/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Natural language instructions for robotic manipulation tasks often exhibit ambiguity and vagueness. For instance, the instruction \"Hang a mug on the mug tree\" may involve multiple valid actions if there are several mugs and branches to choose from. Existing language-conditioned policies typically rely on end-to-end models that jointly handle high-level semantic understanding and low-level action generation, which can result in suboptimal performance due to their lack of modularity and interpretability. To address these challenges, we introduce a novel robotic manipulation framework that can ac","authors_text":"Dale McConachie, Guang Yin, Huan Zhang, Katherine Liu, Kunimatsu Hashimoto, Paarth Shah, Yitong Li, Yixuan Wang, Yunzhu Li","cross_cats":["cs.CV","cs.LG","cs.SE"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-19T23:42:03Z","title":"CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.16652","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":"sha256:0609dd29148b3a0443c090e38fd4a6ef60bcb83bc7e924fef7c290cce5dfba61","target":"record","created_at":"2026-07-05T11:24:40Z","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":"450b44f43d8d5826bc64c73e743e45df1b0d21ef54660493cc277731eb30d94f","cross_cats_sorted":["cs.CV","cs.LG","cs.SE"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-19T23:42:03Z","title_canon_sha256":"ed53641d597fd2183e69cc060bc680aa8db622a70c85dcd6d14d481cfbdd4025"},"schema_version":"1.0","source":{"id":"2506.16652","kind":"arxiv","version":1}},"canonical_sha256":"ef069947c385c0870bc3405bfedd98bb16fb37be47ea0584d591be300ef601b3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ef069947c385c0870bc3405bfedd98bb16fb37be47ea0584d591be300ef601b3","first_computed_at":"2026-07-05T11:24:40.193532Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:24:40.193532Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Z0k1w8kYpbeBTtq66uwuKjp8Epw7vwFk9vakDn9zTxco/XqHD5AobjUDP4JHXjLh5VJLcCh3BtSAblpIgDIcCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:24:40.194022Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.16652","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0609dd29148b3a0443c090e38fd4a6ef60bcb83bc7e924fef7c290cce5dfba61","sha256:d91b234bfcbc0332121d8ca4c10cd46688a3ba311c9a9fcb77a2e8f89a945a21"],"state_sha256":"ed46591505f57c612cdd8626176120aebfa32699b2272867da6c2c309b4069d7"}