{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:QPCYXW4RP7DB3WHBD4WMF6HZQE","short_pith_number":"pith:QPCYXW4R","canonical_record":{"source":{"id":"2406.19464","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-06-27T18:06:38Z","cross_cats_sorted":["cs.AI","cs.CV","cs.SD","eess.AS"],"title_canon_sha256":"5b37e802fe19db7744c2f0fcc303a28291c19d86512aa0bd76b6b9d2e4e2a622","abstract_canon_sha256":"6b84ca38c366ed543acb92b60673d6eb6cf70de7622253ab6df5b017e2106241"},"schema_version":"1.0"},"canonical_sha256":"83c58bdb917fc61dd8e11f2cc2f8f9811bda007363e113ffaf705087646f15b0","source":{"kind":"arxiv","id":"2406.19464","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.19464","created_at":"2026-07-05T09:30:17Z"},{"alias_kind":"arxiv_version","alias_value":"2406.19464v2","created_at":"2026-07-05T09:30:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.19464","created_at":"2026-07-05T09:30:17Z"},{"alias_kind":"pith_short_12","alias_value":"QPCYXW4RP7DB","created_at":"2026-07-05T09:30:17Z"},{"alias_kind":"pith_short_16","alias_value":"QPCYXW4RP7DB3WHB","created_at":"2026-07-05T09:30:17Z"},{"alias_kind":"pith_short_8","alias_value":"QPCYXW4R","created_at":"2026-07-05T09:30:17Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:QPCYXW4RP7DB3WHBD4WMF6HZQE","target":"record","payload":{"canonical_record":{"source":{"id":"2406.19464","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-06-27T18:06:38Z","cross_cats_sorted":["cs.AI","cs.CV","cs.SD","eess.AS"],"title_canon_sha256":"5b37e802fe19db7744c2f0fcc303a28291c19d86512aa0bd76b6b9d2e4e2a622","abstract_canon_sha256":"6b84ca38c366ed543acb92b60673d6eb6cf70de7622253ab6df5b017e2106241"},"schema_version":"1.0"},"canonical_sha256":"83c58bdb917fc61dd8e11f2cc2f8f9811bda007363e113ffaf705087646f15b0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:30:17.900899Z","signature_b64":"N4j06QsJQx5SvYGgaWmRvf1sctGkQoSzDg8YIdZpp5ocKq3mO5zOlatzwga513A8CrbXqjKjpJCWguiDT6exBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"83c58bdb917fc61dd8e11f2cc2f8f9811bda007363e113ffaf705087646f15b0","last_reissued_at":"2026-07-05T09:30:17.900436Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:30:17.900436Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2406.19464","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":"2026-07-05T09:30:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"l5Ze8rni1tgDom/+g+2b6oHllwUk+LfUyAiYQftUip7nm24IldugKWDtKlQht5bYb5pdQNQHecrSmInZY7f4Dw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T17:19:49.360188Z"},"content_sha256":"62a4b75dee103f133ec8ca7ce389ebd74e1404547460c7d40389abc5e2fec71c","schema_version":"1.0","event_id":"sha256:62a4b75dee103f133ec8ca7ce389ebd74e1404547460c7d40389abc5e2fec71c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:QPCYXW4RP7DB3WHBD4WMF6HZQE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.CV","cs.SD","eess.AS"],"primary_cat":"cs.RO","authors_text":"Benjamin Burchfiel, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Shuran Song, Zeyi Liu","submitted_at":"2024-06-27T18:06:38Z","abstract_excerpt":"Audio signals provide rich information for the robot interaction and object properties through contact. This information can surprisingly ease the learning of contact-rich robot manipulation skills, especially when the visual information alone is ambiguous or incomplete. However, the usage of audio data in robot manipulation has been constrained to teleoperated demonstrations collected by either attaching a microphone to the robot or object, which significantly limits its usage in robot learning pipelines. In this work, we introduce ManiWAV: an 'ear-in-hand' data collection device to collect i"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.19464","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/2406.19464/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":"2026-07-05T09:30:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"msl0LxOIS6Z6Wy6mX4SvyBs1S2Iqw9d8FxFAahUIob94m5ZAHE3libQGEgTx8m1+xG/AhMN/S0C1zO2NPSkGDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T17:19:49.360856Z"},"content_sha256":"fe13b4f92d99c6d6795b8b0f2a6a227e64d0a4020c7fbf288fee81cfe1e111b4","schema_version":"1.0","event_id":"sha256:fe13b4f92d99c6d6795b8b0f2a6a227e64d0a4020c7fbf288fee81cfe1e111b4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/QPCYXW4RP7DB3WHBD4WMF6HZQE/bundle.json","state_url":"https://pith.science/pith/QPCYXW4RP7DB3WHBD4WMF6HZQE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/QPCYXW4RP7DB3WHBD4WMF6HZQE/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":"2026-08-03T17:19:49Z","links":{"resolver":"https://pith.science/pith/QPCYXW4RP7DB3WHBD4WMF6HZQE","bundle":"https://pith.science/pith/QPCYXW4RP7DB3WHBD4WMF6HZQE/bundle.json","state":"https://pith.science/pith/QPCYXW4RP7DB3WHBD4WMF6HZQE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/QPCYXW4RP7DB3WHBD4WMF6HZQE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:QPCYXW4RP7DB3WHBD4WMF6HZQE","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":"6b84ca38c366ed543acb92b60673d6eb6cf70de7622253ab6df5b017e2106241","cross_cats_sorted":["cs.AI","cs.CV","cs.SD","eess.AS"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-06-27T18:06:38Z","title_canon_sha256":"5b37e802fe19db7744c2f0fcc303a28291c19d86512aa0bd76b6b9d2e4e2a622"},"schema_version":"1.0","source":{"id":"2406.19464","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.19464","created_at":"2026-07-05T09:30:17Z"},{"alias_kind":"arxiv_version","alias_value":"2406.19464v2","created_at":"2026-07-05T09:30:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.19464","created_at":"2026-07-05T09:30:17Z"},{"alias_kind":"pith_short_12","alias_value":"QPCYXW4RP7DB","created_at":"2026-07-05T09:30:17Z"},{"alias_kind":"pith_short_16","alias_value":"QPCYXW4RP7DB3WHB","created_at":"2026-07-05T09:30:17Z"},{"alias_kind":"pith_short_8","alias_value":"QPCYXW4R","created_at":"2026-07-05T09:30:17Z"}],"graph_snapshots":[{"event_id":"sha256:fe13b4f92d99c6d6795b8b0f2a6a227e64d0a4020c7fbf288fee81cfe1e111b4","target":"graph","created_at":"2026-07-05T09:30:17Z","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/2406.19464/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Audio signals provide rich information for the robot interaction and object properties through contact. This information can surprisingly ease the learning of contact-rich robot manipulation skills, especially when the visual information alone is ambiguous or incomplete. However, the usage of audio data in robot manipulation has been constrained to teleoperated demonstrations collected by either attaching a microphone to the robot or object, which significantly limits its usage in robot learning pipelines. In this work, we introduce ManiWAV: an 'ear-in-hand' data collection device to collect i","authors_text":"Benjamin Burchfiel, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Shuran Song, Zeyi Liu","cross_cats":["cs.AI","cs.CV","cs.SD","eess.AS"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-06-27T18:06:38Z","title":"ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.19464","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":"sha256:62a4b75dee103f133ec8ca7ce389ebd74e1404547460c7d40389abc5e2fec71c","target":"record","created_at":"2026-07-05T09:30:17Z","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":"6b84ca38c366ed543acb92b60673d6eb6cf70de7622253ab6df5b017e2106241","cross_cats_sorted":["cs.AI","cs.CV","cs.SD","eess.AS"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-06-27T18:06:38Z","title_canon_sha256":"5b37e802fe19db7744c2f0fcc303a28291c19d86512aa0bd76b6b9d2e4e2a622"},"schema_version":"1.0","source":{"id":"2406.19464","kind":"arxiv","version":2}},"canonical_sha256":"83c58bdb917fc61dd8e11f2cc2f8f9811bda007363e113ffaf705087646f15b0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"83c58bdb917fc61dd8e11f2cc2f8f9811bda007363e113ffaf705087646f15b0","first_computed_at":"2026-07-05T09:30:17.900436Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:30:17.900436Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"N4j06QsJQx5SvYGgaWmRvf1sctGkQoSzDg8YIdZpp5ocKq3mO5zOlatzwga513A8CrbXqjKjpJCWguiDT6exBg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:30:17.900899Z","signed_message":"canonical_sha256_bytes"},"source_id":"2406.19464","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:62a4b75dee103f133ec8ca7ce389ebd74e1404547460c7d40389abc5e2fec71c","sha256:fe13b4f92d99c6d6795b8b0f2a6a227e64d0a4020c7fbf288fee81cfe1e111b4"],"state_sha256":"817c86d191cfd70eb819b9b0ea4f65bdc116a9c5e305c95373c0e2faaf3e8af6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/F5UDpOxWN0vb7LGReLF5wAfNTpYmr/LhOB85W/Mf0nKnlQMUKXh97PNw7sisM035STHloSajWpvKoZRHQYGCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T17:19:49.365073Z","bundle_sha256":"e9cf55d96fe240386814514cd6f98def020db93d31f6be542011bcc07e0f6da9"}}