{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:LVNYPIRPSKXYKBDRVMR42PHZ3M","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":"205c96e79590a34054de0163002f4effc49e2e4edfa08f57e118595b65ae604a","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-10T10:28:04Z","title_canon_sha256":"c3d0ad3e451dedb2d87abdc91d79a928adf05a632c36e7b5e092c213568e2f53"},"schema_version":"1.0","source":{"id":"2606.11901","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.11901","created_at":"2026-06-11T01:10:14Z"},{"alias_kind":"arxiv_version","alias_value":"2606.11901v1","created_at":"2026-06-11T01:10:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.11901","created_at":"2026-06-11T01:10:14Z"},{"alias_kind":"pith_short_12","alias_value":"LVNYPIRPSKXY","created_at":"2026-06-11T01:10:14Z"},{"alias_kind":"pith_short_16","alias_value":"LVNYPIRPSKXYKBDR","created_at":"2026-06-11T01:10:14Z"},{"alias_kind":"pith_short_8","alias_value":"LVNYPIRP","created_at":"2026-06-11T01:10:14Z"}],"graph_snapshots":[{"event_id":"sha256:592008d64449e8f6ddab380e0aea176c252581b5c982c831c752af21d55f90ec","target":"graph","created_at":"2026-06-11T01:10:14Z","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/2606.11901/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Bimanual robot systems substantially expand manipulation capabilities, but coordinating two arms introduces additional control complexity and failure modes that are not well captured by existing benchmarks. We introduce DuoBench, an extensible benchmarking framework for bimanual manipulation policies on the FR3 Duo platform. DuoBench comprises eleven tasks spanning four coordination categories, implemented in simulation and partially reproduced in the real world through reproducible task recipes with 3D-printable assets. In addition, we propose a stage-based evaluation scheme that supports fin","authors_text":"Florian Walter, Maximilian Li, Pierre Krack, Rudolf Lioutikov, Seongjin Bien, Simon Hilber, Sven Parusel, Tobias J\\\"ulg, Wolfram Burgard, Yannik Blei","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-10T10:28:04Z","title":"DuoBench: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.11901","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:febb29394597d137af73850c2034a0cea0804ec200c509b45aa01b2be933e80a","target":"record","created_at":"2026-06-11T01:10:14Z","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":"205c96e79590a34054de0163002f4effc49e2e4edfa08f57e118595b65ae604a","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-10T10:28:04Z","title_canon_sha256":"c3d0ad3e451dedb2d87abdc91d79a928adf05a632c36e7b5e092c213568e2f53"},"schema_version":"1.0","source":{"id":"2606.11901","kind":"arxiv","version":1}},"canonical_sha256":"5d5b87a22f92af850471ab23cd3cf9db0c742c671873fceab10b233c6919c612","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5d5b87a22f92af850471ab23cd3cf9db0c742c671873fceab10b233c6919c612","first_computed_at":"2026-06-11T01:10:14.699895Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-11T01:10:14.699895Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"NMnqVoE+2MYXbqT3qykAgqoaSyYFrzpyBX9xvh3zozoecL8mHVkehlxZqb4/SqHRwT1P6phdrY0G1AMxMrYEBA==","signature_status":"signed_v1","signed_at":"2026-06-11T01:10:14.700826Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.11901","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:febb29394597d137af73850c2034a0cea0804ec200c509b45aa01b2be933e80a","sha256:592008d64449e8f6ddab380e0aea176c252581b5c982c831c752af21d55f90ec"],"state_sha256":"7af9d40bd683243ed78ed513e66be0584068455498a21ef3a1d14dc227f6bba7"}