{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:Q3J5OMXRBJSXXCKMTXJK6TA4GF","short_pith_number":"pith:Q3J5OMXR","canonical_record":{"source":{"id":"2409.15684","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-24T02:55:54Z","cross_cats_sorted":[],"title_canon_sha256":"daab9229ed8bb7df06da4d4721483cfbaaa6c3a3b75d04355f104bd72857a7f8","abstract_canon_sha256":"00f7bbd8c15487cdc7caf3d5f224a6d3bbf6d809f886fd84fe75c1556c5d1d68"},"schema_version":"1.0"},"canonical_sha256":"86d3d732f10a657b894c9dd2af4c1c314e8dedb0b1c6bf05ab2e9347b812e240","source":{"kind":"arxiv","id":"2409.15684","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.15684","created_at":"2026-07-05T09:10:58Z"},{"alias_kind":"arxiv_version","alias_value":"2409.15684v1","created_at":"2026-07-05T09:10:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.15684","created_at":"2026-07-05T09:10:58Z"},{"alias_kind":"pith_short_12","alias_value":"Q3J5OMXRBJSX","created_at":"2026-07-05T09:10:58Z"},{"alias_kind":"pith_short_16","alias_value":"Q3J5OMXRBJSXXCKM","created_at":"2026-07-05T09:10:58Z"},{"alias_kind":"pith_short_8","alias_value":"Q3J5OMXR","created_at":"2026-07-05T09:10:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:Q3J5OMXRBJSXXCKMTXJK6TA4GF","target":"record","payload":{"canonical_record":{"source":{"id":"2409.15684","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-24T02:55:54Z","cross_cats_sorted":[],"title_canon_sha256":"daab9229ed8bb7df06da4d4721483cfbaaa6c3a3b75d04355f104bd72857a7f8","abstract_canon_sha256":"00f7bbd8c15487cdc7caf3d5f224a6d3bbf6d809f886fd84fe75c1556c5d1d68"},"schema_version":"1.0"},"canonical_sha256":"86d3d732f10a657b894c9dd2af4c1c314e8dedb0b1c6bf05ab2e9347b812e240","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:10:58.456423Z","signature_b64":"8Vx3x/P9B9nHJzNp0mxLVE0LKg3IyWREjzsx1q+EEO0bmSiTv2QO5BIkG80ACIIYYwixi9GZ8zYaW6HKeR1IAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"86d3d732f10a657b894c9dd2af4c1c314e8dedb0b1c6bf05ab2e9347b812e240","last_reissued_at":"2026-07-05T09:10:58.455939Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:10:58.455939Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2409.15684","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:10:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Qr+ivgrxyA9dF43Q6DM6tlOroyYOQTSSvUS14RaI3RXZ0YrERygl801W2CdcJ6PGPJzLZLLTEv3fUL8Mlo+RBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T04:02:33.709410Z"},"content_sha256":"7b6e121c7eb3144650cdd9b63a8f213b4fe1c4f73dd168a777c2a16b0fba2588","schema_version":"1.0","event_id":"sha256:7b6e121c7eb3144650cdd9b63a8f213b4fe1c4f73dd168a777c2a16b0fba2588"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:Q3J5OMXRBJSXXCKMTXJK6TA4GF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SYNERGAI: Perception Alignment for Human-Robot Collaboration","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Guoxi Zhang, Hongming Xu, Peiyuan Zhi, Qing Li, Siyuan Huang, Yaowei Zhang, Yixin Chen","submitted_at":"2024-09-24T02:55:54Z","abstract_excerpt":"Recently, large language models (LLMs) have shown strong potential in facilitating human-robotic interaction and collaboration. However, existing LLM-based systems often overlook the misalignment between human and robot perceptions, which hinders their effective communication and real-world robot deployment. To address this issue, we introduce SYNERGAI, a unified system designed to achieve both perceptual alignment and human-robot collaboration. At its core, SYNERGAI employs 3D Scene Graph (3DSG) as its explicit and innate representation. This enables the system to leverage LLM to break down c"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.15684","kind":"arxiv","version":1},"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/2409.15684/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":"2026-07-05T09:10:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/EI7YVRManPm96GNIDYLtDBQ9U2YynaE56uZZkBMRFsg/iG+xTkVcBtdmkBzeiN18mbisWn2W1mVSlxrGR/CAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T04:02:33.710174Z"},"content_sha256":"f01a6589948bf6ff228c7a894e93bc8e8731189b3a7242556e686277bf094ed1","schema_version":"1.0","event_id":"sha256:f01a6589948bf6ff228c7a894e93bc8e8731189b3a7242556e686277bf094ed1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/Q3J5OMXRBJSXXCKMTXJK6TA4GF/bundle.json","state_url":"https://pith.science/pith/Q3J5OMXRBJSXXCKMTXJK6TA4GF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/Q3J5OMXRBJSXXCKMTXJK6TA4GF/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":"2026-08-06T04:02:33Z","links":{"resolver":"https://pith.science/pith/Q3J5OMXRBJSXXCKMTXJK6TA4GF","bundle":"https://pith.science/pith/Q3J5OMXRBJSXXCKMTXJK6TA4GF/bundle.json","state":"https://pith.science/pith/Q3J5OMXRBJSXXCKMTXJK6TA4GF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/Q3J5OMXRBJSXXCKMTXJK6TA4GF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:Q3J5OMXRBJSXXCKMTXJK6TA4GF","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":"00f7bbd8c15487cdc7caf3d5f224a6d3bbf6d809f886fd84fe75c1556c5d1d68","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-24T02:55:54Z","title_canon_sha256":"daab9229ed8bb7df06da4d4721483cfbaaa6c3a3b75d04355f104bd72857a7f8"},"schema_version":"1.0","source":{"id":"2409.15684","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.15684","created_at":"2026-07-05T09:10:58Z"},{"alias_kind":"arxiv_version","alias_value":"2409.15684v1","created_at":"2026-07-05T09:10:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.15684","created_at":"2026-07-05T09:10:58Z"},{"alias_kind":"pith_short_12","alias_value":"Q3J5OMXRBJSX","created_at":"2026-07-05T09:10:58Z"},{"alias_kind":"pith_short_16","alias_value":"Q3J5OMXRBJSXXCKM","created_at":"2026-07-05T09:10:58Z"},{"alias_kind":"pith_short_8","alias_value":"Q3J5OMXR","created_at":"2026-07-05T09:10:58Z"}],"graph_snapshots":[{"event_id":"sha256:f01a6589948bf6ff228c7a894e93bc8e8731189b3a7242556e686277bf094ed1","target":"graph","created_at":"2026-07-05T09:10:58Z","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/2409.15684/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Recently, large language models (LLMs) have shown strong potential in facilitating human-robotic interaction and collaboration. However, existing LLM-based systems often overlook the misalignment between human and robot perceptions, which hinders their effective communication and real-world robot deployment. To address this issue, we introduce SYNERGAI, a unified system designed to achieve both perceptual alignment and human-robot collaboration. At its core, SYNERGAI employs 3D Scene Graph (3DSG) as its explicit and innate representation. This enables the system to leverage LLM to break down c","authors_text":"Guoxi Zhang, Hongming Xu, Peiyuan Zhi, Qing Li, Siyuan Huang, Yaowei Zhang, Yixin Chen","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-24T02:55:54Z","title":"SYNERGAI: Perception Alignment for Human-Robot Collaboration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.15684","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":"sha256:7b6e121c7eb3144650cdd9b63a8f213b4fe1c4f73dd168a777c2a16b0fba2588","target":"record","created_at":"2026-07-05T09:10:58Z","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":"00f7bbd8c15487cdc7caf3d5f224a6d3bbf6d809f886fd84fe75c1556c5d1d68","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-24T02:55:54Z","title_canon_sha256":"daab9229ed8bb7df06da4d4721483cfbaaa6c3a3b75d04355f104bd72857a7f8"},"schema_version":"1.0","source":{"id":"2409.15684","kind":"arxiv","version":1}},"canonical_sha256":"86d3d732f10a657b894c9dd2af4c1c314e8dedb0b1c6bf05ab2e9347b812e240","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"86d3d732f10a657b894c9dd2af4c1c314e8dedb0b1c6bf05ab2e9347b812e240","first_computed_at":"2026-07-05T09:10:58.455939Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:10:58.455939Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"8Vx3x/P9B9nHJzNp0mxLVE0LKg3IyWREjzsx1q+EEO0bmSiTv2QO5BIkG80ACIIYYwixi9GZ8zYaW6HKeR1IAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:10:58.456423Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.15684","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7b6e121c7eb3144650cdd9b63a8f213b4fe1c4f73dd168a777c2a16b0fba2588","sha256:f01a6589948bf6ff228c7a894e93bc8e8731189b3a7242556e686277bf094ed1"],"state_sha256":"69b51ac30d507257f984842194ae18880f01620fd89b118f3083f876e638565a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5CSbBDBwFvPyH6hrhkimG3murKUQ95xXcXCnegszKAioUpRFfIxsd9g1tJwf8N7aNI1iu0B9uLzSjU/oll7eDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T04:02:33.713694Z","bundle_sha256":"db5ffd54838c1aeb4e69b5061d4a5b1c6c276e42fc020f299eefc4f88e508f75"}}