Pith Number

pith:BEHDYHJV

pith:2024:BEHDYHJVXL4MUQXD4GL24V2B3Y

not attested not anchored not stored refs pending

AHA: A Vision-Language-Model for Detecting and Reasoning Over Failures in Robotic Manipulation

Ajay Mandlekar, Dieter Fox, Jiafei Duan, Nishanth Kumar, Ranjay Krishna, Shulin Tian, Wentao Yuan, Wilbert Pumacay, Yijie Guo, Yi Ru Wang

arxiv:2410.00371 v1 · 2024-10-01 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{BEHDYHJVXL4MUQXD4GL24V2B3Y}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Cited by

23 papers in Pith

Foresight: Failure Detection for Long-Horizon Robotic Manipulation with Action-Conditioned World Model Latents

Robot Critics that Sweat the Small Stuff

Fail-RAG : A Retrieval Augmented Generation Informed Framework for Robot Failure Identification

Recover, Discover, Plan: Learning Skills and Concepts from Robot Failures

When Video Misreads: Closed-Loop Distillation of Reading Heuristics for Exploratory Manipulation Trace QA

Receipt and verification

First computed	2026-07-05T09:14:03.995721Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

090e3c1d35baf8ca42e3e197ae5741de1e4e943baa63a2c2f5116935a2781d80

Aliases

arxiv: 2410.00371 · arxiv_version: 2410.00371v1 · doi: 10.48550/arxiv.2410.00371 · pith_short_12: BEHDYHJVXL4M · pith_short_16: BEHDYHJVXL4MUQXD · pith_short_8: BEHDYHJV

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/BEHDYHJVXL4MUQXD4GL24V2B3Y \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 090e3c1d35baf8ca42e3e197ae5741de1e4e943baa63a2c2f5116935a2781d80

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "561b714e25a28c918a5356a0db401478fb5c3c3c9a6ab8b51b0bed2dd1bb20a4",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-10-01T03:47:00Z",
    "title_canon_sha256": "2b506cc8502b8cf6e2a761f93c0cec3df28044d8f075abaee55856507ffe4a50"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2410.00371",
    "kind": "arxiv",
    "version": 1
  }
}