{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:TEYG5LFDYXMNDNALPVYR2NQ2MG","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":"47a5da23176b01a39081aa5dcaed454cb7d4d1eb5bba6d55a5450c3059141a32","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-13T02:48:03Z","title_canon_sha256":"9e95bf2aba2035efadd77a6311b41145b1b3b9697b7b2d94ad60c3edcf76c747"},"schema_version":"1.0","source":{"id":"2607.11027","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.11027","created_at":"2026-07-14T01:21:53Z"},{"alias_kind":"arxiv_version","alias_value":"2607.11027v1","created_at":"2026-07-14T01:21:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.11027","created_at":"2026-07-14T01:21:53Z"},{"alias_kind":"pith_short_12","alias_value":"TEYG5LFDYXMN","created_at":"2026-07-14T01:21:53Z"},{"alias_kind":"pith_short_16","alias_value":"TEYG5LFDYXMNDNAL","created_at":"2026-07-14T01:21:53Z"},{"alias_kind":"pith_short_8","alias_value":"TEYG5LFD","created_at":"2026-07-14T01:21:53Z"}],"graph_snapshots":[{"event_id":"sha256:59e5a2b069a744f6c6db031875a3acaf952d4e962b67bfe940cb557fe962cc5c","target":"graph","created_at":"2026-07-14T01:21:53Z","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/2607.11027/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Imitation learning enables robots to acquire manipulation skills from demonstrations by mapping observations to actions. Existing approaches predict either short-horizon continuous action sequences or discrete keyposes. However, continuous prediction methods suffer from compounding errors due to short prediction horizons and struggle with multi-modal action distributions, whereas keypose-based methods necessitate an external planner, constraining real-time applicability. To address these challenges, we introduce SegDiff, a closed-loop visuomotor policy that integrates the strengths of both par","authors_text":"Haidong Cao, Jiaqi Leng, Quanhao Li, Sicheng Xie, Wenjun Cao, Yu-Gang Jiang, Zhiying Du, Zuxuan Wu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-13T02:48:03Z","title":"SegDiff: Segmented Trajectory Diffusion for Consistent and Adaptive Robot Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.11027","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":"sha256:51f603af8756a07aaf4e96ca2e8b4b9750ad7d93b25837b89142157a2b248e37","target":"record","created_at":"2026-07-14T01:21:53Z","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":"47a5da23176b01a39081aa5dcaed454cb7d4d1eb5bba6d55a5450c3059141a32","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-13T02:48:03Z","title_canon_sha256":"9e95bf2aba2035efadd77a6311b41145b1b3b9697b7b2d94ad60c3edcf76c747"},"schema_version":"1.0","source":{"id":"2607.11027","kind":"arxiv","version":1}},"canonical_sha256":"99306eaca3c5d8d1b40b7d711d361a61b19008982eb283dd44f82aab698aa0dd","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"99306eaca3c5d8d1b40b7d711d361a61b19008982eb283dd44f82aab698aa0dd","first_computed_at":"2026-07-14T01:21:53.379752Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-14T01:21:53.379752Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"F2hD9rmoubuJYSF0ESLg6naqtlZBeWxpKTlXaBq71v5dOZ7at2kIRX9Ne7DFDs+AnLkGYh3zRTuhWG6ZVoaQDg==","signature_status":"signed_v1","signed_at":"2026-07-14T01:21:53.380576Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.11027","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:51f603af8756a07aaf4e96ca2e8b4b9750ad7d93b25837b89142157a2b248e37","sha256:59e5a2b069a744f6c6db031875a3acaf952d4e962b67bfe940cb557fe962cc5c"],"state_sha256":"cb77914d5498f2fb09d97a38f2144a3853f540e0e9627a55c0f69d4e8f476394"}