{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:QHQGMDNYDS5WUNMTZEMGNDH7UJ","short_pith_number":"pith:QHQGMDNY","canonical_record":{"source":{"id":"2306.11565","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-20T14:30:32Z","cross_cats_sorted":["cs.AI","cs.CV"],"title_canon_sha256":"28647dcb18e54c081e36f253a807ae1ff7e0e784df82e89eaf532dd14ae206b9","abstract_canon_sha256":"2a3290ed81f555a2c55ffbe1338a150949619dc781a3663852caa0bb2e8549b3"},"schema_version":"1.0"},"canonical_sha256":"81e0660db81cbb6a3593c918668cffa26d30ef097fdeeb98d30204e976493e4c","source":{"kind":"arxiv","id":"2306.11565","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2306.11565","created_at":"2026-07-05T07:32:09Z"},{"alias_kind":"arxiv_version","alias_value":"2306.11565v2","created_at":"2026-07-05T07:32:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2306.11565","created_at":"2026-07-05T07:32:09Z"},{"alias_kind":"pith_short_12","alias_value":"QHQGMDNYDS5W","created_at":"2026-07-05T07:32:09Z"},{"alias_kind":"pith_short_16","alias_value":"QHQGMDNYDS5WUNMT","created_at":"2026-07-05T07:32:09Z"},{"alias_kind":"pith_short_8","alias_value":"QHQGMDNY","created_at":"2026-07-05T07:32:09Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:QHQGMDNYDS5WUNMTZEMGNDH7UJ","target":"record","payload":{"canonical_record":{"source":{"id":"2306.11565","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-20T14:30:32Z","cross_cats_sorted":["cs.AI","cs.CV"],"title_canon_sha256":"28647dcb18e54c081e36f253a807ae1ff7e0e784df82e89eaf532dd14ae206b9","abstract_canon_sha256":"2a3290ed81f555a2c55ffbe1338a150949619dc781a3663852caa0bb2e8549b3"},"schema_version":"1.0"},"canonical_sha256":"81e0660db81cbb6a3593c918668cffa26d30ef097fdeeb98d30204e976493e4c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:32:09.892557Z","signature_b64":"6jY9lusydMvlLraWqlo0brHNaA4kXvSKwkRiQye033jZ2C8IAjlBlxqm+vvCMDm6ekTLoSGgM2vmwJEaO27tAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"81e0660db81cbb6a3593c918668cffa26d30ef097fdeeb98d30204e976493e4c","last_reissued_at":"2026-07-05T07:32:09.892076Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:32:09.892076Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2306.11565","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:32:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ArlEXt+TnZFasQjydRNcbAEPTlhoBM6SfeS6LjqPPjnIljaYZUOIDD1trX1snolv9+2TMvUGB820SsBzmSBsBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T05:17:35.499223Z"},"content_sha256":"2872c66b8a4d40aa62138315e0cfbc707a366d686a377144988027189e2726ee","schema_version":"1.0","event_id":"sha256:2872c66b8a4d40aa62138315e0cfbc707a366d686a377144988027189e2726ee"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:QHQGMDNYDS5WUNMTZEMGNDH7UJ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"HomeRobot: Open-Vocabulary Mobile Manipulation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.CV"],"primary_cat":"cs.RO","authors_text":"Alexander William Clegg, Angel Chang, Arun Ramachandran, Austin Wang, Chris Paxton, Devendra Singh Chaplot, Dhruv Batra, John Turner, Karmesh Yadav, Manolis Savva, Mukul Khanna, Roozbeh Mottaghi, Sriram Yenamandra, Theophile Gervet, Tsung-Yen Yang, Vidhi Jain, Yonatan Bisk, Zsolt Kira","submitted_at":"2023-06-20T14:30:32Z","abstract_excerpt":"HomeRobot (noun): An affordable compliant robot that navigates homes and manipulates a wide range of objects in order to complete everyday tasks. Open-Vocabulary Mobile Manipulation (OVMM) is the problem of picking any object in any unseen environment, and placing it in a commanded location. This is a foundational challenge for robots to be useful assistants in human environments, because it involves tackling sub-problems from across robotics: perception, language understanding, navigation, and manipulation are all essential to OVMM. In addition, integration of the solutions to these sub-probl"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.11565","kind":"arxiv","version":2},"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/2306.11565/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":"2026-07-05T07:32:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"w0Y5k80iMJhqTurji/e5nFijJv9Dz8KOryTLsX6XtiuHPUrVoAcjpivaq1ZoEOpDDxagzWj5Wasg3lmOZRWiCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T05:17:35.499774Z"},"content_sha256":"a18e09c6aa118c48139985e887ef07e1db83da751484a619d46dc90b505d83c0","schema_version":"1.0","event_id":"sha256:a18e09c6aa118c48139985e887ef07e1db83da751484a619d46dc90b505d83c0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/QHQGMDNYDS5WUNMTZEMGNDH7UJ/bundle.json","state_url":"https://pith.science/pith/QHQGMDNYDS5WUNMTZEMGNDH7UJ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/QHQGMDNYDS5WUNMTZEMGNDH7UJ/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":"2026-08-22T05:17:35Z","links":{"resolver":"https://pith.science/pith/QHQGMDNYDS5WUNMTZEMGNDH7UJ","bundle":"https://pith.science/pith/QHQGMDNYDS5WUNMTZEMGNDH7UJ/bundle.json","state":"https://pith.science/pith/QHQGMDNYDS5WUNMTZEMGNDH7UJ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/QHQGMDNYDS5WUNMTZEMGNDH7UJ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:QHQGMDNYDS5WUNMTZEMGNDH7UJ","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":"2a3290ed81f555a2c55ffbe1338a150949619dc781a3663852caa0bb2e8549b3","cross_cats_sorted":["cs.AI","cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-20T14:30:32Z","title_canon_sha256":"28647dcb18e54c081e36f253a807ae1ff7e0e784df82e89eaf532dd14ae206b9"},"schema_version":"1.0","source":{"id":"2306.11565","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2306.11565","created_at":"2026-07-05T07:32:09Z"},{"alias_kind":"arxiv_version","alias_value":"2306.11565v2","created_at":"2026-07-05T07:32:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2306.11565","created_at":"2026-07-05T07:32:09Z"},{"alias_kind":"pith_short_12","alias_value":"QHQGMDNYDS5W","created_at":"2026-07-05T07:32:09Z"},{"alias_kind":"pith_short_16","alias_value":"QHQGMDNYDS5WUNMT","created_at":"2026-07-05T07:32:09Z"},{"alias_kind":"pith_short_8","alias_value":"QHQGMDNY","created_at":"2026-07-05T07:32:09Z"}],"graph_snapshots":[{"event_id":"sha256:a18e09c6aa118c48139985e887ef07e1db83da751484a619d46dc90b505d83c0","target":"graph","created_at":"2026-07-05T07:32:09Z","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/2306.11565/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"HomeRobot (noun): An affordable compliant robot that navigates homes and manipulates a wide range of objects in order to complete everyday tasks. Open-Vocabulary Mobile Manipulation (OVMM) is the problem of picking any object in any unseen environment, and placing it in a commanded location. This is a foundational challenge for robots to be useful assistants in human environments, because it involves tackling sub-problems from across robotics: perception, language understanding, navigation, and manipulation are all essential to OVMM. In addition, integration of the solutions to these sub-probl","authors_text":"Alexander William Clegg, Angel Chang, Arun Ramachandran, Austin Wang, Chris Paxton, Devendra Singh Chaplot, Dhruv Batra, John Turner, Karmesh Yadav, Manolis Savva, Mukul Khanna, Roozbeh Mottaghi, Sriram Yenamandra, Theophile Gervet, Tsung-Yen Yang, Vidhi Jain, Yonatan Bisk, Zsolt Kira","cross_cats":["cs.AI","cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-20T14:30:32Z","title":"HomeRobot: Open-Vocabulary Mobile Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.11565","kind":"arxiv","version":2},"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":"sha256:2872c66b8a4d40aa62138315e0cfbc707a366d686a377144988027189e2726ee","target":"record","created_at":"2026-07-05T07:32:09Z","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":"2a3290ed81f555a2c55ffbe1338a150949619dc781a3663852caa0bb2e8549b3","cross_cats_sorted":["cs.AI","cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-20T14:30:32Z","title_canon_sha256":"28647dcb18e54c081e36f253a807ae1ff7e0e784df82e89eaf532dd14ae206b9"},"schema_version":"1.0","source":{"id":"2306.11565","kind":"arxiv","version":2}},"canonical_sha256":"81e0660db81cbb6a3593c918668cffa26d30ef097fdeeb98d30204e976493e4c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"81e0660db81cbb6a3593c918668cffa26d30ef097fdeeb98d30204e976493e4c","first_computed_at":"2026-07-05T07:32:09.892076Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:32:09.892076Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"6jY9lusydMvlLraWqlo0brHNaA4kXvSKwkRiQye033jZ2C8IAjlBlxqm+vvCMDm6ekTLoSGgM2vmwJEaO27tAg==","signature_status":"signed_v1","signed_at":"2026-07-05T07:32:09.892557Z","signed_message":"canonical_sha256_bytes"},"source_id":"2306.11565","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2872c66b8a4d40aa62138315e0cfbc707a366d686a377144988027189e2726ee","sha256:a18e09c6aa118c48139985e887ef07e1db83da751484a619d46dc90b505d83c0"],"state_sha256":"a8175207fbb18d4acc82ae61a1de303c98b2718107db4463d9b768395b2c5caf"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"F+FGaeHDYLF8mXVM0reONqMbugYuFIUJX9Uf5eks0KNf6uasscLJy0p5OYc5gfq9yY8zfn0Bu2g1h830s1MvDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-22T05:17:35.505353Z","bundle_sha256":"096e515b36c481143adf2a547f43a9626399babd2366b2a299214b57f5de8f83"}}