{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:OLYOYXS4VXBOPS44Q22ZU6JGX5","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":"5bd8807cc946dad6329b92fb4ca760be4e057400b6538135e89678fd2207b4fc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-09T20:07:51Z","title_canon_sha256":"975db780fb9a4f85d96bb08805649c7526f26ade604407e33ee80bd58b0bb00e"},"schema_version":"1.0","source":{"id":"2509.08126","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.08126","created_at":"2026-07-05T12:08:22Z"},{"alias_kind":"arxiv_version","alias_value":"2509.08126v1","created_at":"2026-07-05T12:08:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.08126","created_at":"2026-07-05T12:08:22Z"},{"alias_kind":"pith_short_12","alias_value":"OLYOYXS4VXBO","created_at":"2026-07-05T12:08:22Z"},{"alias_kind":"pith_short_16","alias_value":"OLYOYXS4VXBOPS44","created_at":"2026-07-05T12:08:22Z"},{"alias_kind":"pith_short_8","alias_value":"OLYOYXS4","created_at":"2026-07-05T12:08:22Z"}],"graph_snapshots":[{"event_id":"sha256:64258d9120e96cd61a8cd0cef5bca22b1827f47884b271814a81f3806ce6214f","target":"graph","created_at":"2026-07-05T12:08:22Z","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/2509.08126/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Enabling robots to grasp objects specified through natural language is essential for effective human-robot interaction, yet it remains a significant challenge. Existing approaches often struggle with open-form language expressions and typically assume unambiguous target objects without duplicates. Moreover, they frequently rely on costly, dense pixel-wise annotations for both object grounding and grasp configuration. We present Attribute-based Object Grounding and Robotic Grasping (OGRG), a novel framework that interprets open-form language expressions and performs spatial reasoning to ground ","authors_text":"Arnie Sen, Changhyun Choi, Cheng-Hao Kuo, Houjian Yu, Min Sun, Omid Ghasemalizadeh, Yuyin Sun, Zheming Zhou","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-09T20:07:51Z","title":"Attribute-based Object Grounding and Robot Grasp Detection with Spatial Reasoning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.08126","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":"sha256:721b2df0948bd915b51f89330fb4d8a6c0d8d2dbf8b7f9b4237dddd8eca3bde7","target":"record","created_at":"2026-07-05T12:08:22Z","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":"5bd8807cc946dad6329b92fb4ca760be4e057400b6538135e89678fd2207b4fc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-09T20:07:51Z","title_canon_sha256":"975db780fb9a4f85d96bb08805649c7526f26ade604407e33ee80bd58b0bb00e"},"schema_version":"1.0","source":{"id":"2509.08126","kind":"arxiv","version":1}},"canonical_sha256":"72f0ec5e5cadc2e7cb9c86b59a7926bf4fd9ac7f99cc8091fe9d5f7203bd4407","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"72f0ec5e5cadc2e7cb9c86b59a7926bf4fd9ac7f99cc8091fe9d5f7203bd4407","first_computed_at":"2026-07-05T12:08:22.916192Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:08:22.916192Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"D2zkrdozNxEW2IMoXa18Rv6y2cZkbyHQpfw9hzkjMfyhzxefA4bPx5V77WppHhLYdZH0gb6LyH+p4tP70C7NAw==","signature_status":"signed_v1","signed_at":"2026-07-05T12:08:22.916680Z","signed_message":"canonical_sha256_bytes"},"source_id":"2509.08126","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:721b2df0948bd915b51f89330fb4d8a6c0d8d2dbf8b7f9b4237dddd8eca3bde7","sha256:64258d9120e96cd61a8cd0cef5bca22b1827f47884b271814a81f3806ce6214f"],"state_sha256":"8961aeb90f7c01b029ce276f361573af484a03804f60c307fbbc41d806dd7dcb"}