{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:NCYNH4RMRAB2V44DAPY3FQKKUU","short_pith_number":"pith:NCYNH4RM","schema_version":"1.0","canonical_sha256":"68b0d3f22c8803aaf38303f1b2c14aa530ecca80eacd52a22a1ac25ce1cc4d17","source":{"kind":"arxiv","id":"2404.03570","version":3},"attestation_state":"computed","paper":{"title":"Embodied AI with Two Arms: Zero-shot Learning, Safety and Modularity","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Andy Zeng, Avinava Dubey, Deepali Jain, Jake Varley, Krzysztof Choromanski, Somnath Basu Roy Chowdhury, Sumeet Singh, Vikas Sindhwani","submitted_at":"2024-04-04T16:30:20Z","abstract_excerpt":"We present an embodied AI system which receives open-ended natural language instructions from a human, and controls two arms to collaboratively accomplish potentially long-horizon tasks over a large workspace. Our system is modular: it deploys state of the art Large Language Models for task planning,Vision-Language models for semantic perception, and Point Cloud transformers for grasping. With semantic and physical safety in mind, these modules are interfaced with a real-time trajectory optimizer and a compliant tracking controller to enable human-robot proximity. We demonstrate performance fo"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2404.03570","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-04T16:30:20Z","cross_cats_sorted":[],"title_canon_sha256":"36b7061eee00e74372c0f55a72157ca4a4d39e03d16ff5a0ec46d760971ab744","abstract_canon_sha256":"cd9103f3d21361512ea02002f29c8e91fc5a405cb051aadb40553b9de7e58557"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:29:27.775102Z","signature_b64":"gaXnFDhj0qPpEVDBmn45JG/u732oRfh1INDu8eokGtRg/6IQHFZVmTpKu5Pp7WubjllT1qQng5fVvoDJh1JeCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"68b0d3f22c8803aaf38303f1b2c14aa530ecca80eacd52a22a1ac25ce1cc4d17","last_reissued_at":"2026-07-05T09:29:27.774601Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:29:27.774601Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Embodied AI with Two Arms: Zero-shot Learning, Safety and Modularity","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Andy Zeng, Avinava Dubey, Deepali Jain, Jake Varley, Krzysztof Choromanski, Somnath Basu Roy Chowdhury, Sumeet Singh, Vikas Sindhwani","submitted_at":"2024-04-04T16:30:20Z","abstract_excerpt":"We present an embodied AI system which receives open-ended natural language instructions from a human, and controls two arms to collaboratively accomplish potentially long-horizon tasks over a large workspace. Our system is modular: it deploys state of the art Large Language Models for task planning,Vision-Language models for semantic perception, and Point Cloud transformers for grasping. With semantic and physical safety in mind, these modules are interfaced with a real-time trajectory optimizer and a compliant tracking controller to enable human-robot proximity. We demonstrate performance fo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.03570","kind":"arxiv","version":3},"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/2404.03570/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2404.03570","created_at":"2026-07-05T09:29:27.774669+00:00"},{"alias_kind":"arxiv_version","alias_value":"2404.03570v3","created_at":"2026-07-05T09:29:27.774669+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.03570","created_at":"2026-07-05T09:29:27.774669+00:00"},{"alias_kind":"pith_short_12","alias_value":"NCYNH4RMRAB2","created_at":"2026-07-05T09:29:27.774669+00:00"},{"alias_kind":"pith_short_16","alias_value":"NCYNH4RMRAB2V44D","created_at":"2026-07-05T09:29:27.774669+00:00"},{"alias_kind":"pith_short_8","alias_value":"NCYNH4RM","created_at":"2026-07-05T09:29:27.774669+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/NCYNH4RMRAB2V44DAPY3FQKKUU","json":"https://pith.science/pith/NCYNH4RMRAB2V44DAPY3FQKKUU.json","graph_json":"https://pith.science/api/pith-number/NCYNH4RMRAB2V44DAPY3FQKKUU/graph.json","events_json":"https://pith.science/api/pith-number/NCYNH4RMRAB2V44DAPY3FQKKUU/events.json","paper":"https://pith.science/paper/NCYNH4RM"},"agent_actions":{"view_html":"https://pith.science/pith/NCYNH4RMRAB2V44DAPY3FQKKUU","download_json":"https://pith.science/pith/NCYNH4RMRAB2V44DAPY3FQKKUU.json","view_paper":"https://pith.science/paper/NCYNH4RM","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2404.03570&json=true","fetch_graph":"https://pith.science/api/pith-number/NCYNH4RMRAB2V44DAPY3FQKKUU/graph.json","fetch_events":"https://pith.science/api/pith-number/NCYNH4RMRAB2V44DAPY3FQKKUU/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/NCYNH4RMRAB2V44DAPY3FQKKUU/action/timestamp_anchor","attest_storage":"https://pith.science/pith/NCYNH4RMRAB2V44DAPY3FQKKUU/action/storage_attestation","attest_author":"https://pith.science/pith/NCYNH4RMRAB2V44DAPY3FQKKUU/action/author_attestation","sign_citation":"https://pith.science/pith/NCYNH4RMRAB2V44DAPY3FQKKUU/action/citation_signature","submit_replication":"https://pith.science/pith/NCYNH4RMRAB2V44DAPY3FQKKUU/action/replication_record"}},"created_at":"2026-07-05T09:29:27.774669+00:00","updated_at":"2026-07-05T09:29:27.774669+00:00"}