{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:FCMAJIMSBRYS5Q37GTEBZOJI7Z","short_pith_number":"pith:FCMAJIMS","canonical_record":{"source":{"id":"2504.13175","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-17T17:59:43Z","cross_cats_sorted":[],"title_canon_sha256":"f5bf45af3caa0021a23365ab7468097f0fc8b639e25133c7769f6fdd55144e3a","abstract_canon_sha256":"5ecf4a1591464c7e174ddbf3456818ecd2fa638684ee3040a5566777bd3b722f"},"schema_version":"1.0"},"canonical_sha256":"289804a1920c712ec37f34c81cb928fe6c094fdd9fe95023353e2c2bdafe4dd6","source":{"kind":"arxiv","id":"2504.13175","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.13175","created_at":"2026-07-05T10:50:39Z"},{"alias_kind":"arxiv_version","alias_value":"2504.13175v1","created_at":"2026-07-05T10:50:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.13175","created_at":"2026-07-05T10:50:39Z"},{"alias_kind":"pith_short_12","alias_value":"FCMAJIMSBRYS","created_at":"2026-07-05T10:50:39Z"},{"alias_kind":"pith_short_16","alias_value":"FCMAJIMSBRYS5Q37","created_at":"2026-07-05T10:50:39Z"},{"alias_kind":"pith_short_8","alias_value":"FCMAJIMS","created_at":"2026-07-05T10:50:39Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:FCMAJIMSBRYS5Q37GTEBZOJI7Z","target":"record","payload":{"canonical_record":{"source":{"id":"2504.13175","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-17T17:59:43Z","cross_cats_sorted":[],"title_canon_sha256":"f5bf45af3caa0021a23365ab7468097f0fc8b639e25133c7769f6fdd55144e3a","abstract_canon_sha256":"5ecf4a1591464c7e174ddbf3456818ecd2fa638684ee3040a5566777bd3b722f"},"schema_version":"1.0"},"canonical_sha256":"289804a1920c712ec37f34c81cb928fe6c094fdd9fe95023353e2c2bdafe4dd6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:50:39.024395Z","signature_b64":"bVKHAeuLCrJwHua5JeoiToGtdB9veu6hbmV+TFPin6OYGPpflxCbSK6kAfdSFmHY6Y01amFHYrICYGXycNAeAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"289804a1920c712ec37f34c81cb928fe6c094fdd9fe95023353e2c2bdafe4dd6","last_reissued_at":"2026-07-05T10:50:39.023918Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:50:39.023918Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2504.13175","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":"2026-07-05T10:50:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HJ1VBMI4FDCFU+H8KZJlSlY2N/yYLwQS0UhPcDrbm+Zh8YHTylSxAdaUqDedPDgu3gH0tTnkwldszwB58fPyDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T01:47:54.265420Z"},"content_sha256":"18878b0210212ff05994c82c79555b7eb770e037164abeb39bfcd80465a6a4d3","schema_version":"1.0","event_id":"sha256:18878b0210212ff05994c82c79555b7eb770e037164abeb39bfcd80465a6a4d3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:FCMAJIMSBRYS5Q37GTEBZOJI7Z","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cewu Lu, Dahua Lin, Jiangmiao Pang, Jia Zeng, Jun Lv, Kerui Ren, Sizhe Yang, Wenye Yu","submitted_at":"2025-04-17T17:59:43Z","abstract_excerpt":"Visuomotor policies learned from teleoperated demonstrations face challenges such as lengthy data collection, high costs, and limited data diversity. Existing approaches address these issues by augmenting image observations in RGB space or employing Real-to-Sim-to-Real pipelines based on physical simulators. However, the former is constrained to 2D data augmentation, while the latter suffers from imprecise physical simulation caused by inaccurate geometric reconstruction. This paper introduces RoboSplat, a novel method that generates diverse, visually realistic demonstrations by directly manip"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.13175","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/2504.13175/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":"2026-07-05T10:50:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"agJ0knbeum8od0qz0q9YLhWVYBBjkBcLVS861vLsTbLO7reWvDIAshZRvXtDJNfs8AnfkCTimvUB4FhOFD9iCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T01:47:54.265962Z"},"content_sha256":"4085adda8ba35a28d27b0280418e29cfda12e72fd9454c66cbe62a7675e084f0","schema_version":"1.0","event_id":"sha256:4085adda8ba35a28d27b0280418e29cfda12e72fd9454c66cbe62a7675e084f0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FCMAJIMSBRYS5Q37GTEBZOJI7Z/bundle.json","state_url":"https://pith.science/pith/FCMAJIMSBRYS5Q37GTEBZOJI7Z/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FCMAJIMSBRYS5Q37GTEBZOJI7Z/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":"2026-08-04T01:47:54Z","links":{"resolver":"https://pith.science/pith/FCMAJIMSBRYS5Q37GTEBZOJI7Z","bundle":"https://pith.science/pith/FCMAJIMSBRYS5Q37GTEBZOJI7Z/bundle.json","state":"https://pith.science/pith/FCMAJIMSBRYS5Q37GTEBZOJI7Z/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FCMAJIMSBRYS5Q37GTEBZOJI7Z/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:FCMAJIMSBRYS5Q37GTEBZOJI7Z","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":"5ecf4a1591464c7e174ddbf3456818ecd2fa638684ee3040a5566777bd3b722f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-17T17:59:43Z","title_canon_sha256":"f5bf45af3caa0021a23365ab7468097f0fc8b639e25133c7769f6fdd55144e3a"},"schema_version":"1.0","source":{"id":"2504.13175","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.13175","created_at":"2026-07-05T10:50:39Z"},{"alias_kind":"arxiv_version","alias_value":"2504.13175v1","created_at":"2026-07-05T10:50:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.13175","created_at":"2026-07-05T10:50:39Z"},{"alias_kind":"pith_short_12","alias_value":"FCMAJIMSBRYS","created_at":"2026-07-05T10:50:39Z"},{"alias_kind":"pith_short_16","alias_value":"FCMAJIMSBRYS5Q37","created_at":"2026-07-05T10:50:39Z"},{"alias_kind":"pith_short_8","alias_value":"FCMAJIMS","created_at":"2026-07-05T10:50:39Z"}],"graph_snapshots":[{"event_id":"sha256:4085adda8ba35a28d27b0280418e29cfda12e72fd9454c66cbe62a7675e084f0","target":"graph","created_at":"2026-07-05T10:50:39Z","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/2504.13175/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Visuomotor policies learned from teleoperated demonstrations face challenges such as lengthy data collection, high costs, and limited data diversity. Existing approaches address these issues by augmenting image observations in RGB space or employing Real-to-Sim-to-Real pipelines based on physical simulators. However, the former is constrained to 2D data augmentation, while the latter suffers from imprecise physical simulation caused by inaccurate geometric reconstruction. This paper introduces RoboSplat, a novel method that generates diverse, visually realistic demonstrations by directly manip","authors_text":"Cewu Lu, Dahua Lin, Jiangmiao Pang, Jia Zeng, Jun Lv, Kerui Ren, Sizhe Yang, Wenye Yu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-17T17:59:43Z","title":"Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.13175","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":"sha256:18878b0210212ff05994c82c79555b7eb770e037164abeb39bfcd80465a6a4d3","target":"record","created_at":"2026-07-05T10:50:39Z","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":"5ecf4a1591464c7e174ddbf3456818ecd2fa638684ee3040a5566777bd3b722f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-17T17:59:43Z","title_canon_sha256":"f5bf45af3caa0021a23365ab7468097f0fc8b639e25133c7769f6fdd55144e3a"},"schema_version":"1.0","source":{"id":"2504.13175","kind":"arxiv","version":1}},"canonical_sha256":"289804a1920c712ec37f34c81cb928fe6c094fdd9fe95023353e2c2bdafe4dd6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"289804a1920c712ec37f34c81cb928fe6c094fdd9fe95023353e2c2bdafe4dd6","first_computed_at":"2026-07-05T10:50:39.023918Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:50:39.023918Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"bVKHAeuLCrJwHua5JeoiToGtdB9veu6hbmV+TFPin6OYGPpflxCbSK6kAfdSFmHY6Y01amFHYrICYGXycNAeAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T10:50:39.024395Z","signed_message":"canonical_sha256_bytes"},"source_id":"2504.13175","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:18878b0210212ff05994c82c79555b7eb770e037164abeb39bfcd80465a6a4d3","sha256:4085adda8ba35a28d27b0280418e29cfda12e72fd9454c66cbe62a7675e084f0"],"state_sha256":"dac8221264e30295315ca0f0654ff2c03eb815417fe8ae213a9b3a96b735dfb3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cXQwBh8ivTFyxx5FzcWHpU4oj9RhsTOXfh+mVVqMazooI4G8YXlGd4vaIp4vA+bFM6pUr4nAkDumo2TlfI/iDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T01:47:54.270961Z","bundle_sha256":"d8d87c230cc5b1edcaa6a73621d342ea9dfc9c717a22dda91ccb0d71c394945b"}}