{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:6TXZYI662YMRHFGTGA4TXWJRB7","short_pith_number":"pith:6TXZYI66","canonical_record":{"source":{"id":"2302.10693","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-21T14:22:44Z","cross_cats_sorted":[],"title_canon_sha256":"671d536915ccd08c1cfce9169ce48051800a26ec73bf6fb9b0cc2f736c0fa2ab","abstract_canon_sha256":"d3f29931a85b1975bd4636bbfeb20923479b3eae878454b9b15bcfe12c0fb545"},"schema_version":"1.0"},"canonical_sha256":"f4ef9c23ded6191394d330393bd9310ff373bf6fe6ed3db06680792bf95e0d86","source":{"kind":"arxiv","id":"2302.10693","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2302.10693","created_at":"2026-07-05T05:44:20Z"},{"alias_kind":"arxiv_version","alias_value":"2302.10693v1","created_at":"2026-07-05T05:44:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2302.10693","created_at":"2026-07-05T05:44:20Z"},{"alias_kind":"pith_short_12","alias_value":"6TXZYI662YMR","created_at":"2026-07-05T05:44:20Z"},{"alias_kind":"pith_short_16","alias_value":"6TXZYI662YMRHFGT","created_at":"2026-07-05T05:44:20Z"},{"alias_kind":"pith_short_8","alias_value":"6TXZYI66","created_at":"2026-07-05T05:44:20Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:6TXZYI662YMRHFGTGA4TXWJRB7","target":"record","payload":{"canonical_record":{"source":{"id":"2302.10693","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-21T14:22:44Z","cross_cats_sorted":[],"title_canon_sha256":"671d536915ccd08c1cfce9169ce48051800a26ec73bf6fb9b0cc2f736c0fa2ab","abstract_canon_sha256":"d3f29931a85b1975bd4636bbfeb20923479b3eae878454b9b15bcfe12c0fb545"},"schema_version":"1.0"},"canonical_sha256":"f4ef9c23ded6191394d330393bd9310ff373bf6fe6ed3db06680792bf95e0d86","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:44:20.839976Z","signature_b64":"m4H3oMQykutYDyrqnQdFmrAxA7uHDPkCKQDNgVwXCJAT3G9sJ6ZZnIGAD0CA4075ENDMdVZxJU1hdW4gCIEWDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f4ef9c23ded6191394d330393bd9310ff373bf6fe6ed3db06680792bf95e0d86","last_reissued_at":"2026-07-05T05:44:20.839573Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:44:20.839573Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2302.10693","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":"2026-07-05T05:44:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Onu9wVEfkrnnIhGjTQBVbb4kElRWEUFQLIqbU0u3TBxUduVaD3t0j1IA7Jli5J7Plminz1EoJTPx697LE8m5DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T16:08:27.557600Z"},"content_sha256":"abbfc92b2ae0b4d40e62987a6b5b759cd80a5ed0cacfdfa484dacdc7baa7687d","schema_version":"1.0","event_id":"sha256:abbfc92b2ae0b4d40e62987a6b5b759cd80a5ed0cacfdfa484dacdc7baa7687d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:6TXZYI662YMRHFGTGA4TXWJRB7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Sim2Real$^2$: Actively Building Explicit Physics Model for Precise Articulated Object Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jiaojiao Meng, Jing Xu, Liqian Ma, Rui Chen, Shuntao Liu, Weihang Chen","submitted_at":"2023-02-21T14:22:44Z","abstract_excerpt":"Accurately manipulating articulated objects is a challenging yet important task for real robot applications. In this paper, we present a novel framework called Sim2Real$^2$ to enable the robot to manipulate an unseen articulated object to the desired state precisely in the real world with no human demonstrations. We leverage recent advances in physics simulation and learning-based perception to build the interactive explicit physics model of the object and use it to plan a long-horizon manipulation trajectory to accomplish the task. However, the interactive model cannot be correctly estimated "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.10693","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/2302.10693/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":"2026-07-05T05:44:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"V4j+ICGd2Za3Rhft4WWwU+QgS8yDs0r09KlccMglWm8l0/aBNifZc4Olc/fkeDCCeGR2d2rUa5fchKp8LSS+AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T16:08:27.558297Z"},"content_sha256":"6ccdc61a7e6da49de96cb854db65f0b24b851e9a0b89ed50969df1f4b0b4cf54","schema_version":"1.0","event_id":"sha256:6ccdc61a7e6da49de96cb854db65f0b24b851e9a0b89ed50969df1f4b0b4cf54"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6TXZYI662YMRHFGTGA4TXWJRB7/bundle.json","state_url":"https://pith.science/pith/6TXZYI662YMRHFGTGA4TXWJRB7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6TXZYI662YMRHFGTGA4TXWJRB7/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":"2026-08-06T16:08:27Z","links":{"resolver":"https://pith.science/pith/6TXZYI662YMRHFGTGA4TXWJRB7","bundle":"https://pith.science/pith/6TXZYI662YMRHFGTGA4TXWJRB7/bundle.json","state":"https://pith.science/pith/6TXZYI662YMRHFGTGA4TXWJRB7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6TXZYI662YMRHFGTGA4TXWJRB7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:6TXZYI662YMRHFGTGA4TXWJRB7","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":"d3f29931a85b1975bd4636bbfeb20923479b3eae878454b9b15bcfe12c0fb545","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-21T14:22:44Z","title_canon_sha256":"671d536915ccd08c1cfce9169ce48051800a26ec73bf6fb9b0cc2f736c0fa2ab"},"schema_version":"1.0","source":{"id":"2302.10693","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2302.10693","created_at":"2026-07-05T05:44:20Z"},{"alias_kind":"arxiv_version","alias_value":"2302.10693v1","created_at":"2026-07-05T05:44:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2302.10693","created_at":"2026-07-05T05:44:20Z"},{"alias_kind":"pith_short_12","alias_value":"6TXZYI662YMR","created_at":"2026-07-05T05:44:20Z"},{"alias_kind":"pith_short_16","alias_value":"6TXZYI662YMRHFGT","created_at":"2026-07-05T05:44:20Z"},{"alias_kind":"pith_short_8","alias_value":"6TXZYI66","created_at":"2026-07-05T05:44:20Z"}],"graph_snapshots":[{"event_id":"sha256:6ccdc61a7e6da49de96cb854db65f0b24b851e9a0b89ed50969df1f4b0b4cf54","target":"graph","created_at":"2026-07-05T05:44:20Z","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/2302.10693/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Accurately manipulating articulated objects is a challenging yet important task for real robot applications. In this paper, we present a novel framework called Sim2Real$^2$ to enable the robot to manipulate an unseen articulated object to the desired state precisely in the real world with no human demonstrations. We leverage recent advances in physics simulation and learning-based perception to build the interactive explicit physics model of the object and use it to plan a long-horizon manipulation trajectory to accomplish the task. However, the interactive model cannot be correctly estimated ","authors_text":"Jiaojiao Meng, Jing Xu, Liqian Ma, Rui Chen, Shuntao Liu, Weihang Chen","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-21T14:22:44Z","title":"Sim2Real$^2$: Actively Building Explicit Physics Model for Precise Articulated Object Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.10693","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:abbfc92b2ae0b4d40e62987a6b5b759cd80a5ed0cacfdfa484dacdc7baa7687d","target":"record","created_at":"2026-07-05T05:44:20Z","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":"d3f29931a85b1975bd4636bbfeb20923479b3eae878454b9b15bcfe12c0fb545","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-21T14:22:44Z","title_canon_sha256":"671d536915ccd08c1cfce9169ce48051800a26ec73bf6fb9b0cc2f736c0fa2ab"},"schema_version":"1.0","source":{"id":"2302.10693","kind":"arxiv","version":1}},"canonical_sha256":"f4ef9c23ded6191394d330393bd9310ff373bf6fe6ed3db06680792bf95e0d86","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f4ef9c23ded6191394d330393bd9310ff373bf6fe6ed3db06680792bf95e0d86","first_computed_at":"2026-07-05T05:44:20.839573Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:44:20.839573Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"m4H3oMQykutYDyrqnQdFmrAxA7uHDPkCKQDNgVwXCJAT3G9sJ6ZZnIGAD0CA4075ENDMdVZxJU1hdW4gCIEWDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T05:44:20.839976Z","signed_message":"canonical_sha256_bytes"},"source_id":"2302.10693","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:abbfc92b2ae0b4d40e62987a6b5b759cd80a5ed0cacfdfa484dacdc7baa7687d","sha256:6ccdc61a7e6da49de96cb854db65f0b24b851e9a0b89ed50969df1f4b0b4cf54"],"state_sha256":"76c1b13b658cfc61100a767b51e0f48c3220cdad234b2fb4137458c5d98255fd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8MlIavir3R9QMn/4pFq45U3vvX2luIFydDk6M81nKTKY5DKPun4sJIz3X0EKC92kUzo/UzuPvyC3vYQPDg1LAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T16:08:27.570738Z","bundle_sha256":"9af6fa10f75479b63d9206e8f50abeb5907f59a115ebb1103d822c4dda615297"}}