{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:72WBYAINKXH5RDXDQNNFZU4PBL","short_pith_number":"pith:72WBYAIN","canonical_record":{"source":{"id":"2606.04226","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-02T21:25:49Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"5cbcc9946ebcb2e000b91e4e7f6f9020a6a86662f664c241fc1563991d0d322b","abstract_canon_sha256":"49d4d12a602ce414fe2dcbbab0d41655b442e72e4c8869c479959ef5fe507bf8"},"schema_version":"1.0"},"canonical_sha256":"feac1c010d55cfd88ee3835a5cd38f0aebbbe637c9c747c6866ba9f0de35999f","source":{"kind":"arxiv","id":"2606.04226","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.04226","created_at":"2026-06-04T01:08:59Z"},{"alias_kind":"arxiv_version","alias_value":"2606.04226v1","created_at":"2026-06-04T01:08:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.04226","created_at":"2026-06-04T01:08:59Z"},{"alias_kind":"pith_short_12","alias_value":"72WBYAINKXH5","created_at":"2026-06-04T01:08:59Z"},{"alias_kind":"pith_short_16","alias_value":"72WBYAINKXH5RDXD","created_at":"2026-06-04T01:08:59Z"},{"alias_kind":"pith_short_8","alias_value":"72WBYAIN","created_at":"2026-06-04T01:08:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:72WBYAINKXH5RDXDQNNFZU4PBL","target":"record","payload":{"canonical_record":{"source":{"id":"2606.04226","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-02T21:25:49Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"5cbcc9946ebcb2e000b91e4e7f6f9020a6a86662f664c241fc1563991d0d322b","abstract_canon_sha256":"49d4d12a602ce414fe2dcbbab0d41655b442e72e4c8869c479959ef5fe507bf8"},"schema_version":"1.0"},"canonical_sha256":"feac1c010d55cfd88ee3835a5cd38f0aebbbe637c9c747c6866ba9f0de35999f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-04T01:08:59.217011Z","signature_b64":"L8c/ItI/VJUabgaI6KvrDu8hkj/Sg++JZGBbGbzMIGJxtnH/H+I9Pk+/qxX9S/4/9zjcyYcjURoTpMdlMexSAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"feac1c010d55cfd88ee3835a5cd38f0aebbbe637c9c747c6866ba9f0de35999f","last_reissued_at":"2026-06-04T01:08:59.216474Z","signature_status":"signed_v1","first_computed_at":"2026-06-04T01:08:59.216474Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.04226","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":"2026-06-04T01:08:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZW1UP8tcQPxlGt5ysv90rI7Q6z1g0QLC4c9XCVrGpQBO1IYQlTbeA9+KjyVnGHmqOL+VlHpmP2VFuTglTUdpDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T18:23:23.963754Z"},"content_sha256":"bb89593896d8497ed0a1a3880c850bbc3f4f62f556c38fcd3f54aa02b4da0367","schema_version":"1.0","event_id":"sha256:bb89593896d8497ed0a1a3880c850bbc3f4f62f556c38fcd3f54aa02b4da0367"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:72WBYAINKXH5RDXDQNNFZU4PBL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"PerceptTwin: Semantic Scene Reconstruction for Iterative LLM Planning and Verification","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Charlie Gauthier, Liam Paull, Sacha Morin","submitted_at":"2026-06-02T21:25:49Z","abstract_excerpt":"Simulation environments are useful for both robot policy learning and planning verification and validation. Traditionally, the process of creating a simulation was onerous. Creating a bespoke simulation environment for each individual environment that a robot would operate in was simply infeasible. In this work, we introduce PerceptTwin, a fully automatic pipeline that constructs interactive simulations directly from semantic scene representations produced by a robot's perception stack. PerceptTwin combines open-vocabulary object maps with 3D asset generation, affordance prediction, and common"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.04226","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/2606.04226/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":"2026-06-04T01:08:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"woAFHzvRD+T6gKYDREQePQ0rsD+48QLrzjylypVK+LDXoSEVS+rhkAfAfGIf5kXj1T+f5hvum2v/cfus+k00Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T18:23:23.964545Z"},"content_sha256":"24b337188b7234727a8d6b4bcf12285131a797dcfcb01f4f9013b46b86fe0c92","schema_version":"1.0","event_id":"sha256:24b337188b7234727a8d6b4bcf12285131a797dcfcb01f4f9013b46b86fe0c92"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/72WBYAINKXH5RDXDQNNFZU4PBL/bundle.json","state_url":"https://pith.science/pith/72WBYAINKXH5RDXDQNNFZU4PBL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/72WBYAINKXH5RDXDQNNFZU4PBL/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":"2026-06-11T18:23:23Z","links":{"resolver":"https://pith.science/pith/72WBYAINKXH5RDXDQNNFZU4PBL","bundle":"https://pith.science/pith/72WBYAINKXH5RDXDQNNFZU4PBL/bundle.json","state":"https://pith.science/pith/72WBYAINKXH5RDXDQNNFZU4PBL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/72WBYAINKXH5RDXDQNNFZU4PBL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:72WBYAINKXH5RDXDQNNFZU4PBL","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":"49d4d12a602ce414fe2dcbbab0d41655b442e72e4c8869c479959ef5fe507bf8","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-02T21:25:49Z","title_canon_sha256":"5cbcc9946ebcb2e000b91e4e7f6f9020a6a86662f664c241fc1563991d0d322b"},"schema_version":"1.0","source":{"id":"2606.04226","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.04226","created_at":"2026-06-04T01:08:59Z"},{"alias_kind":"arxiv_version","alias_value":"2606.04226v1","created_at":"2026-06-04T01:08:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.04226","created_at":"2026-06-04T01:08:59Z"},{"alias_kind":"pith_short_12","alias_value":"72WBYAINKXH5","created_at":"2026-06-04T01:08:59Z"},{"alias_kind":"pith_short_16","alias_value":"72WBYAINKXH5RDXD","created_at":"2026-06-04T01:08:59Z"},{"alias_kind":"pith_short_8","alias_value":"72WBYAIN","created_at":"2026-06-04T01:08:59Z"}],"graph_snapshots":[{"event_id":"sha256:24b337188b7234727a8d6b4bcf12285131a797dcfcb01f4f9013b46b86fe0c92","target":"graph","created_at":"2026-06-04T01:08:59Z","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/2606.04226/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Simulation environments are useful for both robot policy learning and planning verification and validation. Traditionally, the process of creating a simulation was onerous. Creating a bespoke simulation environment for each individual environment that a robot would operate in was simply infeasible. In this work, we introduce PerceptTwin, a fully automatic pipeline that constructs interactive simulations directly from semantic scene representations produced by a robot's perception stack. PerceptTwin combines open-vocabulary object maps with 3D asset generation, affordance prediction, and common","authors_text":"Charlie Gauthier, Liam Paull, Sacha Morin","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-02T21:25:49Z","title":"PerceptTwin: Semantic Scene Reconstruction for Iterative LLM Planning and Verification"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.04226","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:bb89593896d8497ed0a1a3880c850bbc3f4f62f556c38fcd3f54aa02b4da0367","target":"record","created_at":"2026-06-04T01:08:59Z","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":"49d4d12a602ce414fe2dcbbab0d41655b442e72e4c8869c479959ef5fe507bf8","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-02T21:25:49Z","title_canon_sha256":"5cbcc9946ebcb2e000b91e4e7f6f9020a6a86662f664c241fc1563991d0d322b"},"schema_version":"1.0","source":{"id":"2606.04226","kind":"arxiv","version":1}},"canonical_sha256":"feac1c010d55cfd88ee3835a5cd38f0aebbbe637c9c747c6866ba9f0de35999f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"feac1c010d55cfd88ee3835a5cd38f0aebbbe637c9c747c6866ba9f0de35999f","first_computed_at":"2026-06-04T01:08:59.216474Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-04T01:08:59.216474Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"L8c/ItI/VJUabgaI6KvrDu8hkj/Sg++JZGBbGbzMIGJxtnH/H+I9Pk+/qxX9S/4/9zjcyYcjURoTpMdlMexSAw==","signature_status":"signed_v1","signed_at":"2026-06-04T01:08:59.217011Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.04226","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bb89593896d8497ed0a1a3880c850bbc3f4f62f556c38fcd3f54aa02b4da0367","sha256:24b337188b7234727a8d6b4bcf12285131a797dcfcb01f4f9013b46b86fe0c92"],"state_sha256":"2a7e1e5af14aa6b0015ce0b5c10691fa7e88fb6537e23bac70d385ef58ca385f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xultihGvDh3110iGpV2bxojrlgfANh6rzmKwT3v+qrIhpb504TGMROE9w6769mXNIhyrvyopTYqNJWdbuFYvCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-11T18:23:23.969912Z","bundle_sha256":"2ce0060669f861a11f174e7ab2aafbf1ed34c4cdf207e7dc26f3d81dacfac320"}}