{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:KQCSR3QAUIS5CRMTQCXMMNS26U","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":"884ba1b9c3ea8cdb89ff67dffc6faec330a23b2c2c9eee0af4e29a9d4f9784e1","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-12T13:30:24Z","title_canon_sha256":"627a2a430254c8654bb411704c6e01f4e2bafd872474b46174aa47cc130d619e"},"schema_version":"1.0","source":{"id":"2602.11934","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2602.11934","created_at":"2026-06-09T02:07:21Z"},{"alias_kind":"arxiv_version","alias_value":"2602.11934v2","created_at":"2026-06-09T02:07:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2602.11934","created_at":"2026-06-09T02:07:21Z"},{"alias_kind":"pith_short_12","alias_value":"KQCSR3QAUIS5","created_at":"2026-06-09T02:07:21Z"},{"alias_kind":"pith_short_16","alias_value":"KQCSR3QAUIS5CRMT","created_at":"2026-06-09T02:07:21Z"},{"alias_kind":"pith_short_8","alias_value":"KQCSR3QA","created_at":"2026-06-09T02:07:21Z"}],"graph_snapshots":[{"event_id":"sha256:d9835dc43c4ac43b868fa1501c485a22761757ca2764175fcc9fa002a669df60","target":"graph","created_at":"2026-06-09T02:07:21Z","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/2602.11934/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robot manipulation often fails in the final millimeters: a policy may recognize the right object yet miss the pose offsets, boundaries, or pre-contact alignments needed for action. We argue that such failures arise when semantic invariance suppresses correspondence cues for closed-loop control, or when these cues are not exposed to the policy in a usable form. Modern visual encoders provide strong semantic abstractions, but contact-rich manipulation requires correspondence sensitivity: discriminative feature responses to action-relevant changes in pose, boundary, and contact geometry. Diffusio","authors_text":"Georgia Chalvatzaki, Gerhard Neumann, Jiahong Xue, Xiaogang Jia, Yu Deng, Yufeng Jin","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-12T13:30:24Z","title":"Robot-DIFT: Correspondence-Sensitive Diffusion Features for Contact-Rich Robot Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2602.11934","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":"sha256:05970d423117a13998fa7ebf06a208c0fe4568732b7d0ac6854847b3ac4d58dd","target":"record","created_at":"2026-06-09T02:07:21Z","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":"884ba1b9c3ea8cdb89ff67dffc6faec330a23b2c2c9eee0af4e29a9d4f9784e1","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-12T13:30:24Z","title_canon_sha256":"627a2a430254c8654bb411704c6e01f4e2bafd872474b46174aa47cc130d619e"},"schema_version":"1.0","source":{"id":"2602.11934","kind":"arxiv","version":2}},"canonical_sha256":"540528ee00a225d1459380aec6365af50a50db2849b254ca20ac9a4e123aa4e9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"540528ee00a225d1459380aec6365af50a50db2849b254ca20ac9a4e123aa4e9","first_computed_at":"2026-06-09T02:07:21.001213Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-09T02:07:21.001213Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"7fQDFG1Bc6FssyO5L+9GRQ2mMsYUvazN3MjxZJMiSFpcwnYoR90lKpRaFeCtaexKPdesVz+CBOgFPz22us+JCg==","signature_status":"signed_v1","signed_at":"2026-06-09T02:07:21.002287Z","signed_message":"canonical_sha256_bytes"},"source_id":"2602.11934","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:05970d423117a13998fa7ebf06a208c0fe4568732b7d0ac6854847b3ac4d58dd","sha256:d9835dc43c4ac43b868fa1501c485a22761757ca2764175fcc9fa002a669df60"],"state_sha256":"9776f62e68a6248dde57fe5189f83da69a44e61eb67729e73c8693548cecf527"}