{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:SB54RPX4OYSGN66DTJ4AGEMIOL","short_pith_number":"pith:SB54RPX4","schema_version":"1.0","canonical_sha256":"907bc8befc762466fbc39a7803118872c427dce2fff9c0890837ca087dc5b1c9","source":{"kind":"arxiv","id":"2606.20118","version":1},"attestation_state":"computed","paper":{"title":"Pose6DAug: Physically Plausible Multi-view Object Swapping for Robot Data Augmentation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Byungwoo Jeon, Jinwoo Shin, Jonghoon Lee, Minha Lee, Seong Hyeon Park","submitted_at":"2026-06-18T11:41:25Z","abstract_excerpt":"Vision-language-action (VLA) policies have shown strong potential for general-purpose manipulation, yet they often fail on novel, out-of-distribution objects whose appearance or geometry deviates from the training distribution. The standard remedy is to collect multi-view teleoperation data for every failure case, but this scales poorly in both cost and time. We introduce Pose6DAug, a failure-driven data augmentation framework that turns a policy's own successful episodes into targeted demonstrations for its failure modes, without any new data collection. Our key insight is that each successfu"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2606.20118","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-18T11:41:25Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"958b1aeba3386d37069a5c34c210827698aa7744c4093f756342262e667f0e8b","abstract_canon_sha256":"8f0383b04c5f9a9c97a48367577b8a372f3324f2e130653b4ef1e1ec311d4226"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-19T16:13:03.278476Z","signature_b64":"FNiGX/3RYFMaPTKyMF6oZ0j8/HshwmHqeFdhWh39dg6GLe7dZ30wMDQ2YhKKDE8Ap/ciNd5zSZEF1mlMRK1oAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"907bc8befc762466fbc39a7803118872c427dce2fff9c0890837ca087dc5b1c9","last_reissued_at":"2026-06-19T16:13:03.278117Z","signature_status":"signed_v1","first_computed_at":"2026-06-19T16:13:03.278117Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Pose6DAug: Physically Plausible Multi-view Object Swapping for Robot Data Augmentation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Byungwoo Jeon, Jinwoo Shin, Jonghoon Lee, Minha Lee, Seong Hyeon Park","submitted_at":"2026-06-18T11:41:25Z","abstract_excerpt":"Vision-language-action (VLA) policies have shown strong potential for general-purpose manipulation, yet they often fail on novel, out-of-distribution objects whose appearance or geometry deviates from the training distribution. The standard remedy is to collect multi-view teleoperation data for every failure case, but this scales poorly in both cost and time. We introduce Pose6DAug, a failure-driven data augmentation framework that turns a policy's own successful episodes into targeted demonstrations for its failure modes, without any new data collection. Our key insight is that each successfu"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.20118","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/2606.20118/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2606.20118","created_at":"2026-06-19T16:13:03.278179+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.20118v1","created_at":"2026-06-19T16:13:03.278179+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.20118","created_at":"2026-06-19T16:13:03.278179+00:00"},{"alias_kind":"pith_short_12","alias_value":"SB54RPX4OYSG","created_at":"2026-06-19T16:13:03.278179+00:00"},{"alias_kind":"pith_short_16","alias_value":"SB54RPX4OYSGN66D","created_at":"2026-06-19T16:13:03.278179+00:00"},{"alias_kind":"pith_short_8","alias_value":"SB54RPX4","created_at":"2026-06-19T16:13:03.278179+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/SB54RPX4OYSGN66DTJ4AGEMIOL","json":"https://pith.science/pith/SB54RPX4OYSGN66DTJ4AGEMIOL.json","graph_json":"https://pith.science/api/pith-number/SB54RPX4OYSGN66DTJ4AGEMIOL/graph.json","events_json":"https://pith.science/api/pith-number/SB54RPX4OYSGN66DTJ4AGEMIOL/events.json","paper":"https://pith.science/paper/SB54RPX4"},"agent_actions":{"view_html":"https://pith.science/pith/SB54RPX4OYSGN66DTJ4AGEMIOL","download_json":"https://pith.science/pith/SB54RPX4OYSGN66DTJ4AGEMIOL.json","view_paper":"https://pith.science/paper/SB54RPX4","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.20118&json=true","fetch_graph":"https://pith.science/api/pith-number/SB54RPX4OYSGN66DTJ4AGEMIOL/graph.json","fetch_events":"https://pith.science/api/pith-number/SB54RPX4OYSGN66DTJ4AGEMIOL/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/SB54RPX4OYSGN66DTJ4AGEMIOL/action/timestamp_anchor","attest_storage":"https://pith.science/pith/SB54RPX4OYSGN66DTJ4AGEMIOL/action/storage_attestation","attest_author":"https://pith.science/pith/SB54RPX4OYSGN66DTJ4AGEMIOL/action/author_attestation","sign_citation":"https://pith.science/pith/SB54RPX4OYSGN66DTJ4AGEMIOL/action/citation_signature","submit_replication":"https://pith.science/pith/SB54RPX4OYSGN66DTJ4AGEMIOL/action/replication_record"}},"created_at":"2026-06-19T16:13:03.278179+00:00","updated_at":"2026-06-19T16:13:03.278179+00:00"}