{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:LEVU7FDJCLAPXFKYV22VCJ75AR","short_pith_number":"pith:LEVU7FDJ","canonical_record":{"source":{"id":"2405.18860","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-29T08:15:56Z","cross_cats_sorted":[],"title_canon_sha256":"a07e032ef42ed723d69d93a13f867cc7b0f5c0f37b70c008617cdb7961456904","abstract_canon_sha256":"3ade8a48530ac7ccbccac31b638f3971d28f933f19abaa3f05f6098045d3663e"},"schema_version":"1.0"},"canonical_sha256":"592b4f946912c0fb9558aeb55127fd0452ef44610cc194242d52448e5a0a8abd","source":{"kind":"arxiv","id":"2405.18860","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.18860","created_at":"2026-07-05T08:28:10Z"},{"alias_kind":"arxiv_version","alias_value":"2405.18860v2","created_at":"2026-07-05T08:28:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.18860","created_at":"2026-07-05T08:28:10Z"},{"alias_kind":"pith_short_12","alias_value":"LEVU7FDJCLAP","created_at":"2026-07-05T08:28:10Z"},{"alias_kind":"pith_short_16","alias_value":"LEVU7FDJCLAPXFKY","created_at":"2026-07-05T08:28:10Z"},{"alias_kind":"pith_short_8","alias_value":"LEVU7FDJ","created_at":"2026-07-05T08:28:10Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:LEVU7FDJCLAPXFKYV22VCJ75AR","target":"record","payload":{"canonical_record":{"source":{"id":"2405.18860","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-29T08:15:56Z","cross_cats_sorted":[],"title_canon_sha256":"a07e032ef42ed723d69d93a13f867cc7b0f5c0f37b70c008617cdb7961456904","abstract_canon_sha256":"3ade8a48530ac7ccbccac31b638f3971d28f933f19abaa3f05f6098045d3663e"},"schema_version":"1.0"},"canonical_sha256":"592b4f946912c0fb9558aeb55127fd0452ef44610cc194242d52448e5a0a8abd","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:28:10.510094Z","signature_b64":"iQkiKLZDHOYG6sezwhGcWfz71so3iPaVdBi6PiKIJHZKotAENng6BMQQDMTdNso1jcE6x5xjHPOlkfHjv1ZSDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"592b4f946912c0fb9558aeb55127fd0452ef44610cc194242d52448e5a0a8abd","last_reissued_at":"2026-07-05T08:28:10.509621Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:28:10.509621Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2405.18860","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:28:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"d8IpOb0apUFi1ZB9XFmTIW4PoGG4uj2mIowtOZ7Q6YS4B+j+ccshpM/Vr7tPGVfhEZa1ZnP3Cj6rSXY4eUblBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T17:08:51.144277Z"},"content_sha256":"6e710ffc0a5494d6188b2b5220432ddb6f53a97d85a39340b024f42df842b410","schema_version":"1.0","event_id":"sha256:6e710ffc0a5494d6188b2b5220432ddb6f53a97d85a39340b024f42df842b410"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:LEVU7FDJCLAPXFKYV22VCJ75AR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Empowering Embodied Manipulation: A Bimanual-Mobile Robot Manipulation Dataset for Household Tasks","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dongjiang Li, Lei Sun, Lin Zhao, Lusong Li, Tianle Zhang, Xiaodong He, Xuelong Wei, Yibing Zhan, Yihang Li, Yue Chen, Zecui Zeng","submitted_at":"2024-05-29T08:15:56Z","abstract_excerpt":"The advancements in embodied AI are increasingly enabling robots to tackle complex real-world tasks, such as household manipulation. However, the deployment of robots in these environments remains constrained by the lack of comprehensive bimanual-mobile robot manipulation data that can be learned. Existing datasets predominantly focus on single-arm manipulation tasks, while the few dual-arm datasets available often lack mobility features, task diversity, comprehensive sensor data, and robust evaluation metrics; they fail to capture the intricate and dynamic nature of household manipulation tas"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.18860","kind":"arxiv","version":2},"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/2405.18860/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":"2026-07-05T08:28:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/f/s/NJe/qrMZDMC3zmZidbGrSKMErcS/Nr7fJv+KTlgKZpw3cLk9YN3hvxVAzHZ6rKD6HA3y8cw+NH+DLzfAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T17:08:51.144836Z"},"content_sha256":"30a8ee8d1e0a46545d1398492c9f45249c78ab6c0f5a8eef29ded17522d4c00b","schema_version":"1.0","event_id":"sha256:30a8ee8d1e0a46545d1398492c9f45249c78ab6c0f5a8eef29ded17522d4c00b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LEVU7FDJCLAPXFKYV22VCJ75AR/bundle.json","state_url":"https://pith.science/pith/LEVU7FDJCLAPXFKYV22VCJ75AR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LEVU7FDJCLAPXFKYV22VCJ75AR/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":"2026-08-08T17:08:51Z","links":{"resolver":"https://pith.science/pith/LEVU7FDJCLAPXFKYV22VCJ75AR","bundle":"https://pith.science/pith/LEVU7FDJCLAPXFKYV22VCJ75AR/bundle.json","state":"https://pith.science/pith/LEVU7FDJCLAPXFKYV22VCJ75AR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LEVU7FDJCLAPXFKYV22VCJ75AR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:LEVU7FDJCLAPXFKYV22VCJ75AR","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":"3ade8a48530ac7ccbccac31b638f3971d28f933f19abaa3f05f6098045d3663e","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-29T08:15:56Z","title_canon_sha256":"a07e032ef42ed723d69d93a13f867cc7b0f5c0f37b70c008617cdb7961456904"},"schema_version":"1.0","source":{"id":"2405.18860","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.18860","created_at":"2026-07-05T08:28:10Z"},{"alias_kind":"arxiv_version","alias_value":"2405.18860v2","created_at":"2026-07-05T08:28:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.18860","created_at":"2026-07-05T08:28:10Z"},{"alias_kind":"pith_short_12","alias_value":"LEVU7FDJCLAP","created_at":"2026-07-05T08:28:10Z"},{"alias_kind":"pith_short_16","alias_value":"LEVU7FDJCLAPXFKY","created_at":"2026-07-05T08:28:10Z"},{"alias_kind":"pith_short_8","alias_value":"LEVU7FDJ","created_at":"2026-07-05T08:28:10Z"}],"graph_snapshots":[{"event_id":"sha256:30a8ee8d1e0a46545d1398492c9f45249c78ab6c0f5a8eef29ded17522d4c00b","target":"graph","created_at":"2026-07-05T08:28:10Z","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/2405.18860/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The advancements in embodied AI are increasingly enabling robots to tackle complex real-world tasks, such as household manipulation. However, the deployment of robots in these environments remains constrained by the lack of comprehensive bimanual-mobile robot manipulation data that can be learned. Existing datasets predominantly focus on single-arm manipulation tasks, while the few dual-arm datasets available often lack mobility features, task diversity, comprehensive sensor data, and robust evaluation metrics; they fail to capture the intricate and dynamic nature of household manipulation tas","authors_text":"Dongjiang Li, Lei Sun, Lin Zhao, Lusong Li, Tianle Zhang, Xiaodong He, Xuelong Wei, Yibing Zhan, Yihang Li, Yue Chen, Zecui Zeng","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-29T08:15:56Z","title":"Empowering Embodied Manipulation: A Bimanual-Mobile Robot Manipulation Dataset for Household Tasks"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.18860","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":"sha256:6e710ffc0a5494d6188b2b5220432ddb6f53a97d85a39340b024f42df842b410","target":"record","created_at":"2026-07-05T08:28:10Z","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":"3ade8a48530ac7ccbccac31b638f3971d28f933f19abaa3f05f6098045d3663e","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-29T08:15:56Z","title_canon_sha256":"a07e032ef42ed723d69d93a13f867cc7b0f5c0f37b70c008617cdb7961456904"},"schema_version":"1.0","source":{"id":"2405.18860","kind":"arxiv","version":2}},"canonical_sha256":"592b4f946912c0fb9558aeb55127fd0452ef44610cc194242d52448e5a0a8abd","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"592b4f946912c0fb9558aeb55127fd0452ef44610cc194242d52448e5a0a8abd","first_computed_at":"2026-07-05T08:28:10.509621Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:28:10.509621Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"iQkiKLZDHOYG6sezwhGcWfz71so3iPaVdBi6PiKIJHZKotAENng6BMQQDMTdNso1jcE6x5xjHPOlkfHjv1ZSDA==","signature_status":"signed_v1","signed_at":"2026-07-05T08:28:10.510094Z","signed_message":"canonical_sha256_bytes"},"source_id":"2405.18860","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6e710ffc0a5494d6188b2b5220432ddb6f53a97d85a39340b024f42df842b410","sha256:30a8ee8d1e0a46545d1398492c9f45249c78ab6c0f5a8eef29ded17522d4c00b"],"state_sha256":"b0a24d6c3701e589248edf23644ae8e593f43b9b960b3d6c0045e85c21916e75"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lhS8p81u+D1G/cCA3LHANC7vwvrVf4UcN/83WkH6SE6Z6ynO3PpXcsohPZCVkqqaLpPk7tDzXUhAfAavO72/AQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T17:08:51.153515Z","bundle_sha256":"804cf13eb159e6f80491ac42f760cc24187ab8d1001cff2889f974c63adaaf41"}}