{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:EOL4XOUBJSII2VB42PUH7WWY7K","short_pith_number":"pith:EOL4XOUB","canonical_record":{"source":{"id":"2508.02068","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-04T05:16:09Z","cross_cats_sorted":[],"title_canon_sha256":"47b7d8087f05ff0c98afa69b2413732cfb41ff1b199aaeccde8f0a17b06eb289","abstract_canon_sha256":"6000280f6158f85b90a665c7466db2dc3c2667966b9bee3744467bd87613190e"},"schema_version":"1.0"},"canonical_sha256":"2397cbba814c908d543cd3e87fdad8fa8d8701b6dc9c307b24b27084be1dd35f","source":{"kind":"arxiv","id":"2508.02068","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.02068","created_at":"2026-07-05T11:49:59Z"},{"alias_kind":"arxiv_version","alias_value":"2508.02068v2","created_at":"2026-07-05T11:49:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.02068","created_at":"2026-07-05T11:49:59Z"},{"alias_kind":"pith_short_12","alias_value":"EOL4XOUBJSII","created_at":"2026-07-05T11:49:59Z"},{"alias_kind":"pith_short_16","alias_value":"EOL4XOUBJSII2VB4","created_at":"2026-07-05T11:49:59Z"},{"alias_kind":"pith_short_8","alias_value":"EOL4XOUB","created_at":"2026-07-05T11:49:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:EOL4XOUBJSII2VB42PUH7WWY7K","target":"record","payload":{"canonical_record":{"source":{"id":"2508.02068","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-04T05:16:09Z","cross_cats_sorted":[],"title_canon_sha256":"47b7d8087f05ff0c98afa69b2413732cfb41ff1b199aaeccde8f0a17b06eb289","abstract_canon_sha256":"6000280f6158f85b90a665c7466db2dc3c2667966b9bee3744467bd87613190e"},"schema_version":"1.0"},"canonical_sha256":"2397cbba814c908d543cd3e87fdad8fa8d8701b6dc9c307b24b27084be1dd35f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:49:59.000867Z","signature_b64":"TFx8yTES541IeKUcnO362hecHPz45PS6H0VnS+04zawCUq8vabp/2yWxmevv06C/sPh8S+G03KYmmRBdz4/ECA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2397cbba814c908d543cd3e87fdad8fa8d8701b6dc9c307b24b27084be1dd35f","last_reissued_at":"2026-07-05T11:49:59.000434Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:49:59.000434Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2508.02068","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T11:49:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TMExwgyH6jtG24Q8s/I3VBDg51HfkfA9+k92lAvPyM5Q+aNadQ9J2zTq1Z+iIOo7aLz1qRwmRZXsLNQfUYKECw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T01:30:16.896882Z"},"content_sha256":"760dfe5f8d65adabea90275684895a05b2918119de964bdbc540f7de3963081b","schema_version":"1.0","event_id":"sha256:760dfe5f8d65adabea90275684895a05b2918119de964bdbc540f7de3963081b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:EOL4XOUBJSII2VB42PUH7WWY7K","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"\"Set It Up\": Functional Object Arrangement with Compositional Generative Models (Journal Version)","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"David Hsu, Jiayuan Mao, Leslie Pack Kaelbling, Linfeng Li, Tomas Loz\\'ano-P\\'erez, Yilun Du, Yiqing Xu","submitted_at":"2025-08-04T05:16:09Z","abstract_excerpt":"Functional object arrangement (FORM) is the task of arranging objects to fulfill a function, e.g., \"set up a dining table for two\". One key challenge here is that the instructions for FORM are often under-specified and do not explicitly specify the desired object goal poses. This paper presents SetItUp, a neuro-symbolic framework that learns to specify the goal poses of objects from a few training examples and a structured natural-language task specification. SetItUp uses a grounding graph, which is composed of abstract spatial relations among objects (e.g., left-of), as its intermediate repre"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.02068","kind":"arxiv","version":2},"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/2508.02068/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":"2026-07-05T11:49:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AC+cE02bnq1OVi1yV/8FMETQ+VGVSz6t+/4GjCUIUXz0eVEU2kzsEllI+GiQ5D9E6fuW9aiP10QCTcmDtr7gCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T01:30:16.897835Z"},"content_sha256":"3eb5bbe16948351ff0c3110c8d0a99dff581a8c5a0ce97c273d908dbc1a2b18f","schema_version":"1.0","event_id":"sha256:3eb5bbe16948351ff0c3110c8d0a99dff581a8c5a0ce97c273d908dbc1a2b18f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/EOL4XOUBJSII2VB42PUH7WWY7K/bundle.json","state_url":"https://pith.science/pith/EOL4XOUBJSII2VB42PUH7WWY7K/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/EOL4XOUBJSII2VB42PUH7WWY7K/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":"2026-08-10T01:30:16Z","links":{"resolver":"https://pith.science/pith/EOL4XOUBJSII2VB42PUH7WWY7K","bundle":"https://pith.science/pith/EOL4XOUBJSII2VB42PUH7WWY7K/bundle.json","state":"https://pith.science/pith/EOL4XOUBJSII2VB42PUH7WWY7K/state.json","well_known_bundle":"https://pith.science/.well-known/pith/EOL4XOUBJSII2VB42PUH7WWY7K/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:EOL4XOUBJSII2VB42PUH7WWY7K","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":"6000280f6158f85b90a665c7466db2dc3c2667966b9bee3744467bd87613190e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-04T05:16:09Z","title_canon_sha256":"47b7d8087f05ff0c98afa69b2413732cfb41ff1b199aaeccde8f0a17b06eb289"},"schema_version":"1.0","source":{"id":"2508.02068","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.02068","created_at":"2026-07-05T11:49:59Z"},{"alias_kind":"arxiv_version","alias_value":"2508.02068v2","created_at":"2026-07-05T11:49:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.02068","created_at":"2026-07-05T11:49:59Z"},{"alias_kind":"pith_short_12","alias_value":"EOL4XOUBJSII","created_at":"2026-07-05T11:49:59Z"},{"alias_kind":"pith_short_16","alias_value":"EOL4XOUBJSII2VB4","created_at":"2026-07-05T11:49:59Z"},{"alias_kind":"pith_short_8","alias_value":"EOL4XOUB","created_at":"2026-07-05T11:49:59Z"}],"graph_snapshots":[{"event_id":"sha256:3eb5bbe16948351ff0c3110c8d0a99dff581a8c5a0ce97c273d908dbc1a2b18f","target":"graph","created_at":"2026-07-05T11:49:59Z","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/2508.02068/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Functional object arrangement (FORM) is the task of arranging objects to fulfill a function, e.g., \"set up a dining table for two\". One key challenge here is that the instructions for FORM are often under-specified and do not explicitly specify the desired object goal poses. This paper presents SetItUp, a neuro-symbolic framework that learns to specify the goal poses of objects from a few training examples and a structured natural-language task specification. SetItUp uses a grounding graph, which is composed of abstract spatial relations among objects (e.g., left-of), as its intermediate repre","authors_text":"David Hsu, Jiayuan Mao, Leslie Pack Kaelbling, Linfeng Li, Tomas Loz\\'ano-P\\'erez, Yilun Du, Yiqing Xu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-04T05:16:09Z","title":"\"Set It Up\": Functional Object Arrangement with Compositional Generative Models (Journal Version)"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.02068","kind":"arxiv","version":2},"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":"sha256:760dfe5f8d65adabea90275684895a05b2918119de964bdbc540f7de3963081b","target":"record","created_at":"2026-07-05T11:49:59Z","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":"6000280f6158f85b90a665c7466db2dc3c2667966b9bee3744467bd87613190e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-04T05:16:09Z","title_canon_sha256":"47b7d8087f05ff0c98afa69b2413732cfb41ff1b199aaeccde8f0a17b06eb289"},"schema_version":"1.0","source":{"id":"2508.02068","kind":"arxiv","version":2}},"canonical_sha256":"2397cbba814c908d543cd3e87fdad8fa8d8701b6dc9c307b24b27084be1dd35f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2397cbba814c908d543cd3e87fdad8fa8d8701b6dc9c307b24b27084be1dd35f","first_computed_at":"2026-07-05T11:49:59.000434Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:49:59.000434Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"TFx8yTES541IeKUcnO362hecHPz45PS6H0VnS+04zawCUq8vabp/2yWxmevv06C/sPh8S+G03KYmmRBdz4/ECA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:49:59.000867Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.02068","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:760dfe5f8d65adabea90275684895a05b2918119de964bdbc540f7de3963081b","sha256:3eb5bbe16948351ff0c3110c8d0a99dff581a8c5a0ce97c273d908dbc1a2b18f"],"state_sha256":"58d98615701d9cb68b0caaf80525fbbd7c9c70a0634120f823ab9dc7f992ab2b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kXVaVoJ75VzqbxehDIHR6GB965lXjGGQbGMSJp0erm0p/vaMNf33zfWyK3gjZcgDx4HXlrDKV6OgM+xx+oTFDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-10T01:30:16.903120Z","bundle_sha256":"2c000b5d04e0c27a63320526988758b85fa7e75a3480692f82e1adf8164f9bb9"}}