{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:PE4G2LO5KUP5G7T3WJA3GCHS2E","short_pith_number":"pith:PE4G2LO5","canonical_record":{"source":{"id":"2401.08553","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-01-16T18:32:32Z","cross_cats_sorted":[],"title_canon_sha256":"cc6ba47e8c8747e0e4d969bf2379e8ab4fde85be025a96d84ae4cad3c5865219","abstract_canon_sha256":"db9198a288b7d7731306f20427b2657af75bb7e726ef6ca2ab0f505addcc58fe"},"schema_version":"1.0"},"canonical_sha256":"79386d2ddd551fd37e7bb241b308f2d11b7cc3660a8b525cfff48296205f526a","source":{"kind":"arxiv","id":"2401.08553","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2401.08553","created_at":"2026-07-05T09:02:15Z"},{"alias_kind":"arxiv_version","alias_value":"2401.08553v3","created_at":"2026-07-05T09:02:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2401.08553","created_at":"2026-07-05T09:02:15Z"},{"alias_kind":"pith_short_12","alias_value":"PE4G2LO5KUP5","created_at":"2026-07-05T09:02:15Z"},{"alias_kind":"pith_short_16","alias_value":"PE4G2LO5KUP5G7T3","created_at":"2026-07-05T09:02:15Z"},{"alias_kind":"pith_short_8","alias_value":"PE4G2LO5","created_at":"2026-07-05T09:02:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:PE4G2LO5KUP5G7T3WJA3GCHS2E","target":"record","payload":{"canonical_record":{"source":{"id":"2401.08553","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-01-16T18:32:32Z","cross_cats_sorted":[],"title_canon_sha256":"cc6ba47e8c8747e0e4d969bf2379e8ab4fde85be025a96d84ae4cad3c5865219","abstract_canon_sha256":"db9198a288b7d7731306f20427b2657af75bb7e726ef6ca2ab0f505addcc58fe"},"schema_version":"1.0"},"canonical_sha256":"79386d2ddd551fd37e7bb241b308f2d11b7cc3660a8b525cfff48296205f526a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:02:15.219980Z","signature_b64":"irbnYop9ssb+PsIZ1THK7RFW74WoDJROn6Kxi6MnAJqdNg8NPEzqSzByge86RaGSx73jDdtD48xWG8uGl87+Cg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"79386d2ddd551fd37e7bb241b308f2d11b7cc3660a8b525cfff48296205f526a","last_reissued_at":"2026-07-05T09:02:15.219553Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:02:15.219553Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2401.08553","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:02:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uyZ0T8C3g9PfYdJXvjMgWWj23aZKLXjnKUmASrOq3bWSKgJCvTGzzwj3vzfzppDSg21KD7ODmJOCAZhK9bNaDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T02:12:39.085132Z"},"content_sha256":"3e4c5096293b6b1ffb86175bc84da4711de48aaa7683ce152efaac26d376250b","schema_version":"1.0","event_id":"sha256:3e4c5096293b6b1ffb86175bc84da4711de48aaa7683ce152efaac26d376250b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:PE4G2LO5KUP5G7T3WJA3GCHS2E","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Charles Xu, Fangchen Liu, Jeffrey Wu, Jianlan Luo, Liam Tan, Pieter Abbeel, Sergey Levine, Zipeng Lin","submitted_at":"2024-01-16T18:32:32Z","abstract_excerpt":"In this paper, we propose a real-world benchmark for studying robotic learning in the context of functional manipulation: a robot needs to accomplish complex long-horizon behaviors by composing individual manipulation skills in functionally relevant ways. The core design principles of our Functional Manipulation Benchmark (FMB) emphasize a harmonious balance between complexity and accessibility. Tasks are deliberately scoped to be narrow, ensuring that models and datasets of manageable scale can be utilized effectively to track progress. Simultaneously, they are diverse enough to pose a signif"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.08553","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/2401.08553/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":"2026-07-05T09:02:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"L2bmJ/IOifv7yA7nA+HGYSOaiJSTxVMph8gW68k180MMcbDypJT55I94iyDcWBw1j7fgWRO1VxOF9ityVRCECQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T02:12:39.085638Z"},"content_sha256":"fa631f0fb2b3e795a4f428b63c8709cf934888c2e5fc2f2b459759d5e51e410f","schema_version":"1.0","event_id":"sha256:fa631f0fb2b3e795a4f428b63c8709cf934888c2e5fc2f2b459759d5e51e410f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PE4G2LO5KUP5G7T3WJA3GCHS2E/bundle.json","state_url":"https://pith.science/pith/PE4G2LO5KUP5G7T3WJA3GCHS2E/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PE4G2LO5KUP5G7T3WJA3GCHS2E/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":"2026-08-05T02:12:39Z","links":{"resolver":"https://pith.science/pith/PE4G2LO5KUP5G7T3WJA3GCHS2E","bundle":"https://pith.science/pith/PE4G2LO5KUP5G7T3WJA3GCHS2E/bundle.json","state":"https://pith.science/pith/PE4G2LO5KUP5G7T3WJA3GCHS2E/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PE4G2LO5KUP5G7T3WJA3GCHS2E/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:PE4G2LO5KUP5G7T3WJA3GCHS2E","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":"db9198a288b7d7731306f20427b2657af75bb7e726ef6ca2ab0f505addcc58fe","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-01-16T18:32:32Z","title_canon_sha256":"cc6ba47e8c8747e0e4d969bf2379e8ab4fde85be025a96d84ae4cad3c5865219"},"schema_version":"1.0","source":{"id":"2401.08553","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2401.08553","created_at":"2026-07-05T09:02:15Z"},{"alias_kind":"arxiv_version","alias_value":"2401.08553v3","created_at":"2026-07-05T09:02:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2401.08553","created_at":"2026-07-05T09:02:15Z"},{"alias_kind":"pith_short_12","alias_value":"PE4G2LO5KUP5","created_at":"2026-07-05T09:02:15Z"},{"alias_kind":"pith_short_16","alias_value":"PE4G2LO5KUP5G7T3","created_at":"2026-07-05T09:02:15Z"},{"alias_kind":"pith_short_8","alias_value":"PE4G2LO5","created_at":"2026-07-05T09:02:15Z"}],"graph_snapshots":[{"event_id":"sha256:fa631f0fb2b3e795a4f428b63c8709cf934888c2e5fc2f2b459759d5e51e410f","target":"graph","created_at":"2026-07-05T09:02:15Z","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/2401.08553/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we propose a real-world benchmark for studying robotic learning in the context of functional manipulation: a robot needs to accomplish complex long-horizon behaviors by composing individual manipulation skills in functionally relevant ways. The core design principles of our Functional Manipulation Benchmark (FMB) emphasize a harmonious balance between complexity and accessibility. Tasks are deliberately scoped to be narrow, ensuring that models and datasets of manageable scale can be utilized effectively to track progress. Simultaneously, they are diverse enough to pose a signif","authors_text":"Charles Xu, Fangchen Liu, Jeffrey Wu, Jianlan Luo, Liam Tan, Pieter Abbeel, Sergey Levine, Zipeng Lin","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-01-16T18:32:32Z","title":"FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.08553","kind":"arxiv","version":3},"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":"sha256:3e4c5096293b6b1ffb86175bc84da4711de48aaa7683ce152efaac26d376250b","target":"record","created_at":"2026-07-05T09:02:15Z","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":"db9198a288b7d7731306f20427b2657af75bb7e726ef6ca2ab0f505addcc58fe","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-01-16T18:32:32Z","title_canon_sha256":"cc6ba47e8c8747e0e4d969bf2379e8ab4fde85be025a96d84ae4cad3c5865219"},"schema_version":"1.0","source":{"id":"2401.08553","kind":"arxiv","version":3}},"canonical_sha256":"79386d2ddd551fd37e7bb241b308f2d11b7cc3660a8b525cfff48296205f526a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"79386d2ddd551fd37e7bb241b308f2d11b7cc3660a8b525cfff48296205f526a","first_computed_at":"2026-07-05T09:02:15.219553Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:02:15.219553Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"irbnYop9ssb+PsIZ1THK7RFW74WoDJROn6Kxi6MnAJqdNg8NPEzqSzByge86RaGSx73jDdtD48xWG8uGl87+Cg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:02:15.219980Z","signed_message":"canonical_sha256_bytes"},"source_id":"2401.08553","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3e4c5096293b6b1ffb86175bc84da4711de48aaa7683ce152efaac26d376250b","sha256:fa631f0fb2b3e795a4f428b63c8709cf934888c2e5fc2f2b459759d5e51e410f"],"state_sha256":"da697bd1a9012076ef8f910ebb179aa10e7c50c4147daa9c71198718e46b0eae"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1/qLBlqz4UvEDvs32uKIgb8/JpFXZwKkj8tm4sjfOGjiXLFsXlIHtdwaDC4AtZM3Hgfb1ElP755duPk/VGadBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T02:12:39.089227Z","bundle_sha256":"a7e10943daa8437a571f097efc5274814a3e41bfeb66fcd10564e7727b86589a"}}