Pith Number

pith:J67LPDIE

pith:2026:J67LPDIE4JYFRZPNUZ7B5VWXJM

not attested not anchored not stored refs resolved

Diffusion Policy for Coordinated Control of a Nonholonomic Mobile Base and Dual Arms in Door Opening and Passing

Daniel Wu, Donghyun Kim, Matthew En, Sangjun Park, Seyed Fakoorian, Shangqun Yu, Ziyi Zhou

A single end-to-end diffusion policy coordinates a nonholonomic mobile base and dual arms to open and pass through damped pull doors.

arxiv:2605.15352 v1 · 2026-05-14 · cs.RO

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\pithnumber{J67LPDIE4JYFRZPNUZ7B5VWXJM}

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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.

Claims

C1strongest claim

A single end-to-end diffusion-based visuomotor control policy can execute the complete door opening and passing task, achieving high success rate on damped pull doors and strong robustness to external disturbances.

C2weakest assumption

The assumption that imitation learning from demonstration data is sufficient to produce robust coordination without explicit stage definitions or additional sensing modalities; this enters in the abstract's contrast with state-machine methods and the claim that no prior visual action model has solved the full task.

C3one line summary

A diffusion policy learns coordinated control of a mobile base and dual arms to open and traverse damped pull doors in a single end-to-end visuomotor model.

References

25 extracted · 25 resolved · 3 Pith anchors

[1] Pulling open doors and drawers: Coordi- nating an omni-directional base and a compliant arm with equilibrium point control, 2010

[2] Planning for autonomous door opening with a mobile manipulator, 2010

[3] Door opening and traversal with an industrial cartesian impedance controlled mobile robot, 2019

[4] Motion planning of mobile manipulator for navigation including door traversal, 2023

[5] Versatile multi-contact planning and control for legged loco-manipulation, 2023

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-20T00:00:53.950715Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4fbeb78d04e27058e5eda67e1ed6d74b08a2b0bc682e6bcce5755d7daff2eb45

Aliases

arxiv: 2605.15352 · arxiv_version: 2605.15352v1 · doi: 10.48550/arxiv.2605.15352 · pith_short_12: J67LPDIE4JYF · pith_short_16: J67LPDIE4JYFRZPN · pith_short_8: J67LPDIE

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/J67LPDIE4JYFRZPNUZ7B5VWXJM \
  | 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: 4fbeb78d04e27058e5eda67e1ed6d74b08a2b0bc682e6bcce5755d7daff2eb45

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b8ef5915e82b485ab428e3113448b3ff649c898ccbb61a4d17d361db6c5b659d",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-14T19:23:46Z",
    "title_canon_sha256": "8da50bf88c5ea6cc902bc2f54cb515cef21055922f723e5c088fb7076e7c279f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.15352",
    "kind": "arxiv",
    "version": 1
  }
}