{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:GIAX4F4D7WDKLQBCNQMXKLGZSG","short_pith_number":"pith:GIAX4F4D","canonical_record":{"source":{"id":"2607.27890","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-30T09:05:04Z","cross_cats_sorted":[],"title_canon_sha256":"925b09c25caa5d2e1537bf5415fd4bf2670ed2862dded0588eaaacc9209e84eb","abstract_canon_sha256":"dda037296a7b82e9154f7337a4b05aa60ad202e4693a36bfc0d485c1c2b580bd"},"schema_version":"1.0"},"canonical_sha256":"32017e1783fd86a5c0226c19752cd99192257db48a66bd3ec0f0e677569830fd","source":{"kind":"arxiv","id":"2607.27890","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.27890","created_at":"2026-07-31T01:34:37Z"},{"alias_kind":"arxiv_version","alias_value":"2607.27890v1","created_at":"2026-07-31T01:34:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.27890","created_at":"2026-07-31T01:34:37Z"},{"alias_kind":"pith_short_12","alias_value":"GIAX4F4D7WDK","created_at":"2026-07-31T01:34:37Z"},{"alias_kind":"pith_short_16","alias_value":"GIAX4F4D7WDKLQBC","created_at":"2026-07-31T01:34:37Z"},{"alias_kind":"pith_short_8","alias_value":"GIAX4F4D","created_at":"2026-07-31T01:34:37Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:GIAX4F4D7WDKLQBCNQMXKLGZSG","target":"record","payload":{"canonical_record":{"source":{"id":"2607.27890","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-30T09:05:04Z","cross_cats_sorted":[],"title_canon_sha256":"925b09c25caa5d2e1537bf5415fd4bf2670ed2862dded0588eaaacc9209e84eb","abstract_canon_sha256":"dda037296a7b82e9154f7337a4b05aa60ad202e4693a36bfc0d485c1c2b580bd"},"schema_version":"1.0"},"canonical_sha256":"32017e1783fd86a5c0226c19752cd99192257db48a66bd3ec0f0e677569830fd","receipt":{"kind":"pith_receipt","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"32017e1783fd86a5c0226c19752cd99192257db48a66bd3ec0f0e677569830fd","last_reissued_at":"2026-07-31T01:34:37.158118Z","signature_status":"unsigned_v0","first_computed_at":"2026-07-31T01:34:37.158118Z"},"source_kind":"arxiv","source_id":"2607.27890","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":"2026-07-31T01:34:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Fy2g3SOsQRPAhVClpOgPoQHUzY/b10956SMwhmPwGEdDD7A9M2Y3A+oZomvaJnqoX06HqzNF+QPR7Om1fHN5Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T15:43:29.412199Z"},"content_sha256":"c8e0057f3a2be7ab7dcf5756d35915ce38044e54d796d3d72e217d5cf5a39a64","schema_version":"1.0","event_id":"sha256:c8e0057f3a2be7ab7dcf5756d35915ce38044e54d796d3d72e217d5cf5a39a64"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:GIAX4F4D7WDKLQBCNQMXKLGZSG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Static In, Dynamic Out: Counterfactual Action Augmentation for Moving Object Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alfred Cueva, Benjamin Joffe, Danfei Xu, Nadun Ranawaka Arachchige, Shreyas Kousik, Woo Chul Shin, Yingyan Celine Lin, Zhenyang Chen","submitted_at":"2026-07-30T09:05:04Z","abstract_excerpt":"Visuomotor policies have advanced on manipulation tasks where the target object stays static during execution, but real deployments break this assumption: parts drift on conveyors and fruits sway in the wind. We introduce Static In, Dynamic Out (SIDO), a counterfactual action augmentation that enables a policy trained only on static object demonstrations to adapt to unseen object motion at test time. Our key idea is to factorize moving object manipulation into two sub-problems: predicting where the object will be, and reaching that predicted pose. SIDO displaces the object to a counterfactual "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.27890","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/2607.27890/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":"2026-07-31T01:34:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"k7mU6i1yYumVKQMf/fgg3l7NaEUgJnHy/DbMQPzsDpKKjKZYl+Lsn6KPdEMarmaRVk9CrYIpi+Kw0/7YvI+kCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T15:43:29.412698Z"},"content_sha256":"8e2df9a9fa0310fe2ba57bd99447618944abc9c6c6574e93e5e5b50c2c1d8233","schema_version":"1.0","event_id":"sha256:8e2df9a9fa0310fe2ba57bd99447618944abc9c6c6574e93e5e5b50c2c1d8233"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GIAX4F4D7WDKLQBCNQMXKLGZSG/bundle.json","state_url":"https://pith.science/pith/GIAX4F4D7WDKLQBCNQMXKLGZSG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GIAX4F4D7WDKLQBCNQMXKLGZSG/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":"2026-08-03T15:43:29Z","links":{"resolver":"https://pith.science/pith/GIAX4F4D7WDKLQBCNQMXKLGZSG","bundle":"https://pith.science/pith/GIAX4F4D7WDKLQBCNQMXKLGZSG/bundle.json","state":"https://pith.science/pith/GIAX4F4D7WDKLQBCNQMXKLGZSG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GIAX4F4D7WDKLQBCNQMXKLGZSG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:GIAX4F4D7WDKLQBCNQMXKLGZSG","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":"dda037296a7b82e9154f7337a4b05aa60ad202e4693a36bfc0d485c1c2b580bd","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-30T09:05:04Z","title_canon_sha256":"925b09c25caa5d2e1537bf5415fd4bf2670ed2862dded0588eaaacc9209e84eb"},"schema_version":"1.0","source":{"id":"2607.27890","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.27890","created_at":"2026-07-31T01:34:37Z"},{"alias_kind":"arxiv_version","alias_value":"2607.27890v1","created_at":"2026-07-31T01:34:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.27890","created_at":"2026-07-31T01:34:37Z"},{"alias_kind":"pith_short_12","alias_value":"GIAX4F4D7WDK","created_at":"2026-07-31T01:34:37Z"},{"alias_kind":"pith_short_16","alias_value":"GIAX4F4D7WDKLQBC","created_at":"2026-07-31T01:34:37Z"},{"alias_kind":"pith_short_8","alias_value":"GIAX4F4D","created_at":"2026-07-31T01:34:37Z"}],"graph_snapshots":[{"event_id":"sha256:8e2df9a9fa0310fe2ba57bd99447618944abc9c6c6574e93e5e5b50c2c1d8233","target":"graph","created_at":"2026-07-31T01:34:37Z","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/2607.27890/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Visuomotor policies have advanced on manipulation tasks where the target object stays static during execution, but real deployments break this assumption: parts drift on conveyors and fruits sway in the wind. We introduce Static In, Dynamic Out (SIDO), a counterfactual action augmentation that enables a policy trained only on static object demonstrations to adapt to unseen object motion at test time. Our key idea is to factorize moving object manipulation into two sub-problems: predicting where the object will be, and reaching that predicted pose. SIDO displaces the object to a counterfactual ","authors_text":"Alfred Cueva, Benjamin Joffe, Danfei Xu, Nadun Ranawaka Arachchige, Shreyas Kousik, Woo Chul Shin, Yingyan Celine Lin, Zhenyang Chen","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-30T09:05:04Z","title":"Static In, Dynamic Out: Counterfactual Action Augmentation for Moving Object Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.27890","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:c8e0057f3a2be7ab7dcf5756d35915ce38044e54d796d3d72e217d5cf5a39a64","target":"record","created_at":"2026-07-31T01:34:37Z","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":"dda037296a7b82e9154f7337a4b05aa60ad202e4693a36bfc0d485c1c2b580bd","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-30T09:05:04Z","title_canon_sha256":"925b09c25caa5d2e1537bf5415fd4bf2670ed2862dded0588eaaacc9209e84eb"},"schema_version":"1.0","source":{"id":"2607.27890","kind":"arxiv","version":1}},"canonical_sha256":"32017e1783fd86a5c0226c19752cd99192257db48a66bd3ec0f0e677569830fd","receipt":{"builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"32017e1783fd86a5c0226c19752cd99192257db48a66bd3ec0f0e677569830fd","first_computed_at":"2026-07-31T01:34:37.158118Z","kind":"pith_receipt","last_reissued_at":"2026-07-31T01:34:37.158118Z","receipt_version":"0.3","signature_status":"unsigned_v0"},"source_id":"2607.27890","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c8e0057f3a2be7ab7dcf5756d35915ce38044e54d796d3d72e217d5cf5a39a64","sha256:8e2df9a9fa0310fe2ba57bd99447618944abc9c6c6574e93e5e5b50c2c1d8233"],"state_sha256":"c301ea240510fda76375222e3c1289f4b3c7f5054a5d79d0080ce4ca864f64a5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kfu2Rs3KDxHGWjZtdzvziPua1pZsdsQPxKNMbKTZT3x+Yd1LkttGqTIbu2Bg2eN1fLMSip8+vVvOkB+UlDgBCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T15:43:29.417783Z","bundle_sha256":"1c68013c6d00354e631a7922a0661fe9b841fad5f61e83373097c3069462745f"}}