{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:HCO4YX3ZA6BTJCOJCSLAFNHDLP","short_pith_number":"pith:HCO4YX3Z","canonical_record":{"source":{"id":"2605.18617","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-18T16:26:22Z","cross_cats_sorted":["cs.AI","cs.CV"],"title_canon_sha256":"0ea0e9a5fda925d743afde4ede991a53e4b1dcc94c0483a41c43c6bd1c0db9db","abstract_canon_sha256":"9bf6c3177911bb495c78146ed6123ecca2e2ab84ddcbea723c0d74d9d107c14f"},"schema_version":"1.0"},"canonical_sha256":"389dcc5f7907833489c9149602b4e35be59a96f958fef0a304de04f0b59b2b3c","source":{"kind":"arxiv","id":"2605.18617","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.18617","created_at":"2026-05-20T00:06:11Z"},{"alias_kind":"arxiv_version","alias_value":"2605.18617v1","created_at":"2026-05-20T00:06:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.18617","created_at":"2026-05-20T00:06:11Z"},{"alias_kind":"pith_short_12","alias_value":"HCO4YX3ZA6BT","created_at":"2026-05-20T00:06:11Z"},{"alias_kind":"pith_short_16","alias_value":"HCO4YX3ZA6BTJCOJ","created_at":"2026-05-20T00:06:11Z"},{"alias_kind":"pith_short_8","alias_value":"HCO4YX3Z","created_at":"2026-05-20T00:06:11Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:HCO4YX3ZA6BTJCOJCSLAFNHDLP","target":"record","payload":{"canonical_record":{"source":{"id":"2605.18617","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-18T16:26:22Z","cross_cats_sorted":["cs.AI","cs.CV"],"title_canon_sha256":"0ea0e9a5fda925d743afde4ede991a53e4b1dcc94c0483a41c43c6bd1c0db9db","abstract_canon_sha256":"9bf6c3177911bb495c78146ed6123ecca2e2ab84ddcbea723c0d74d9d107c14f"},"schema_version":"1.0"},"canonical_sha256":"389dcc5f7907833489c9149602b4e35be59a96f958fef0a304de04f0b59b2b3c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-20T00:06:11.075908Z","signature_b64":"J3WgW4VGb1cswU4qmghvTUzVp6ks13WHdh0kMso4fW85E48zjCdSFxm/KErDCyuEDmgtuMe2bfT+ORCtGRZnBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"389dcc5f7907833489c9149602b4e35be59a96f958fef0a304de04f0b59b2b3c","last_reissued_at":"2026-05-20T00:06:11.075105Z","signature_status":"signed_v1","first_computed_at":"2026-05-20T00:06:11.075105Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.18617","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":"2026-05-20T00:06:11Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"J7R4rAH9nX8h4XT/UTiC41PKqZr9tFgpVlPTs2Uoi0zjwJCgSab7mI9Mn0vrC6qS5GJTwYJPuuyvHjgiKU7+Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-23T07:31:01.702694Z"},"content_sha256":"8dc352de42ce95da4e6b4929000491a46e3c3611977636ae5a8b34c31c52fff0","schema_version":"1.0","event_id":"sha256:8dc352de42ce95da4e6b4929000491a46e3c3611977636ae5a8b34c31c52fff0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:HCO4YX3ZA6BTJCOJCSLAFNHDLP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"ManiSoft: Towards Vision-Language Manipulation for Soft Continuum Robotics","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.CV"],"primary_cat":"cs.RO","authors_text":"Chen Gao, Li Wen, Luting Wang, Si Liu, Ziyu Wei","submitted_at":"2026-05-18T16:26:22Z","abstract_excerpt":"Most existing vision-language manipulation research targets rigid robotic arms, whose fixed morphology limits adaptability in cluttered or confined spaces. Soft robotic arms offer an appealing alternative due to their deformability, but confront challenges such as unreliable proprioception and distributed low-level actuation. To investigate these challenges, we introduce \\ManiSoft, a benchmark for vision-language manipulation with soft arms. ManiSoft features a tailored simulator that couples realistic soft-body dynamics with contact-rich interactions via an elastic force constraint. On this b"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.18617","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/2605.18617/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"claim_evidence","ran_at":"2026-05-20T00:01:59.227823Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"2b281721f6e78d41bf3477c8f931af2641b14aa8765c124c1f10624392fbd066"},"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":"2026-05-20T00:06:11Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dXvILLX0sjbwvcOaNdVZe+lNie3kov5OHEyvj0z9jiwHN+iBEwHnUZn+KQVIv5W2NP2Y71Kwy1/hVfkKF7bWAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-23T07:31:01.703493Z"},"content_sha256":"3fcbc18eb5cb712a81be4bd69cc5738d31e256d06de9d525c8d888d5d130df5b","schema_version":"1.0","event_id":"sha256:3fcbc18eb5cb712a81be4bd69cc5738d31e256d06de9d525c8d888d5d130df5b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HCO4YX3ZA6BTJCOJCSLAFNHDLP/bundle.json","state_url":"https://pith.science/pith/HCO4YX3ZA6BTJCOJCSLAFNHDLP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HCO4YX3ZA6BTJCOJCSLAFNHDLP/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":"2026-05-23T07:31:01Z","links":{"resolver":"https://pith.science/pith/HCO4YX3ZA6BTJCOJCSLAFNHDLP","bundle":"https://pith.science/pith/HCO4YX3ZA6BTJCOJCSLAFNHDLP/bundle.json","state":"https://pith.science/pith/HCO4YX3ZA6BTJCOJCSLAFNHDLP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HCO4YX3ZA6BTJCOJCSLAFNHDLP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:HCO4YX3ZA6BTJCOJCSLAFNHDLP","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":"9bf6c3177911bb495c78146ed6123ecca2e2ab84ddcbea723c0d74d9d107c14f","cross_cats_sorted":["cs.AI","cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-18T16:26:22Z","title_canon_sha256":"0ea0e9a5fda925d743afde4ede991a53e4b1dcc94c0483a41c43c6bd1c0db9db"},"schema_version":"1.0","source":{"id":"2605.18617","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.18617","created_at":"2026-05-20T00:06:11Z"},{"alias_kind":"arxiv_version","alias_value":"2605.18617v1","created_at":"2026-05-20T00:06:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.18617","created_at":"2026-05-20T00:06:11Z"},{"alias_kind":"pith_short_12","alias_value":"HCO4YX3ZA6BT","created_at":"2026-05-20T00:06:11Z"},{"alias_kind":"pith_short_16","alias_value":"HCO4YX3ZA6BTJCOJ","created_at":"2026-05-20T00:06:11Z"},{"alias_kind":"pith_short_8","alias_value":"HCO4YX3Z","created_at":"2026-05-20T00:06:11Z"}],"graph_snapshots":[{"event_id":"sha256:3fcbc18eb5cb712a81be4bd69cc5738d31e256d06de9d525c8d888d5d130df5b","target":"graph","created_at":"2026-05-20T00:06:11Z","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":[{"findings_count":0,"name":"claim_evidence","ran_at":"2026-05-20T00:01:59.227823Z","status":"completed","version":"1.0.0"}],"endpoint":"/pith/2605.18617/integrity.json","findings":[],"snapshot_sha256":"2b281721f6e78d41bf3477c8f931af2641b14aa8765c124c1f10624392fbd066","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Most existing vision-language manipulation research targets rigid robotic arms, whose fixed morphology limits adaptability in cluttered or confined spaces. Soft robotic arms offer an appealing alternative due to their deformability, but confront challenges such as unreliable proprioception and distributed low-level actuation. To investigate these challenges, we introduce \\ManiSoft, a benchmark for vision-language manipulation with soft arms. ManiSoft features a tailored simulator that couples realistic soft-body dynamics with contact-rich interactions via an elastic force constraint. On this b","authors_text":"Chen Gao, Li Wen, Luting Wang, Si Liu, Ziyu Wei","cross_cats":["cs.AI","cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-18T16:26:22Z","title":"ManiSoft: Towards Vision-Language Manipulation for Soft Continuum Robotics"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.18617","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":"sha256:8dc352de42ce95da4e6b4929000491a46e3c3611977636ae5a8b34c31c52fff0","target":"record","created_at":"2026-05-20T00:06:11Z","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":"9bf6c3177911bb495c78146ed6123ecca2e2ab84ddcbea723c0d74d9d107c14f","cross_cats_sorted":["cs.AI","cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-18T16:26:22Z","title_canon_sha256":"0ea0e9a5fda925d743afde4ede991a53e4b1dcc94c0483a41c43c6bd1c0db9db"},"schema_version":"1.0","source":{"id":"2605.18617","kind":"arxiv","version":1}},"canonical_sha256":"389dcc5f7907833489c9149602b4e35be59a96f958fef0a304de04f0b59b2b3c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"389dcc5f7907833489c9149602b4e35be59a96f958fef0a304de04f0b59b2b3c","first_computed_at":"2026-05-20T00:06:11.075105Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-20T00:06:11.075105Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"J3WgW4VGb1cswU4qmghvTUzVp6ks13WHdh0kMso4fW85E48zjCdSFxm/KErDCyuEDmgtuMe2bfT+ORCtGRZnBg==","signature_status":"signed_v1","signed_at":"2026-05-20T00:06:11.075908Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.18617","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8dc352de42ce95da4e6b4929000491a46e3c3611977636ae5a8b34c31c52fff0","sha256:3fcbc18eb5cb712a81be4bd69cc5738d31e256d06de9d525c8d888d5d130df5b"],"state_sha256":"898a14678f3f5456f3f3beb90de2fc377b9e3ec110a36286c793d99922de3473"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oFOhYk2plXoeqeVU6oePzYllyl29T2S23yz+TAOOU9vXeHx4pnFarn7zeh8fisE+Hvswgy+jlsj6nYF4ZE4VAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-23T07:31:01.708411Z","bundle_sha256":"cf97a7fc12ccaa4b15ffe6d4fd9062a135bdca525818488c22ec782d50e01ad6"}}