{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:TJQI2YV7XZVIDOGRLHPSCABHSV","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":"f6a8d4b6f719329682624a76f664a094351434c1f94b39f0d542a6ee330a1049","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-10-02T23:20:32Z","title_canon_sha256":"630c90c8d50bd8a56ecacbb152d8a307445168a7f813e80ae6a32cd185cf8c68"},"schema_version":"1.0","source":{"id":"2510.02614","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2510.02614","created_at":"2026-06-23T03:13:48Z"},{"alias_kind":"arxiv_version","alias_value":"2510.02614v3","created_at":"2026-06-23T03:13:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2510.02614","created_at":"2026-06-23T03:13:48Z"},{"alias_kind":"pith_short_12","alias_value":"TJQI2YV7XZVI","created_at":"2026-06-23T03:13:48Z"},{"alias_kind":"pith_short_16","alias_value":"TJQI2YV7XZVIDOGR","created_at":"2026-06-23T03:13:48Z"},{"alias_kind":"pith_short_8","alias_value":"TJQI2YV7","created_at":"2026-06-23T03:13:48Z"}],"graph_snapshots":[{"event_id":"sha256:ccedb11e14ffeb855001ecb9517cbca88bbe17c91d7d3fbe8c091fe86c7b1907","target":"graph","created_at":"2026-06-23T03:13:48Z","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/2510.02614/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We introduce UMI-on-Air, a framework for embodiment-aware deployment of embodiment-agnostic manipulation policies. Our approach leverages diverse, unconstrained human demonstrations collected with a handheld gripper (UMI) to train generalizable visuomotor policies. A central challenge in transferring these policies to constrained robotic embodiments-such as aerial manipulators-is the mismatch in control and robot dynamics, which often leads to out-of-distribution behaviors and poor execution. To address this, we propose Embodiment-Aware Diffusion Policy (EADP), which couples a high-level UMI p","authors_text":"Chuer Pan, Dongjae Lee, Guanya Shi, Harsh Gupta, Huy Ha, Muqing Cao, Sebastian Scherer, Shuran Song, Xiaofeng Guo","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-10-02T23:20:32Z","title":"UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policies"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2510.02614","kind":"arxiv","version":3},"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:c5d4933bfa06668602511f258a9189fb3e403b6aa980a9a1b5bc07f4ad8e1d6f","target":"record","created_at":"2026-06-23T03:13:48Z","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":"f6a8d4b6f719329682624a76f664a094351434c1f94b39f0d542a6ee330a1049","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-10-02T23:20:32Z","title_canon_sha256":"630c90c8d50bd8a56ecacbb152d8a307445168a7f813e80ae6a32cd185cf8c68"},"schema_version":"1.0","source":{"id":"2510.02614","kind":"arxiv","version":3}},"canonical_sha256":"9a608d62bfbe6a81b8d159df21002795588188cb73809ac057e300ceafb2f58f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9a608d62bfbe6a81b8d159df21002795588188cb73809ac057e300ceafb2f58f","first_computed_at":"2026-06-23T03:13:48.218001Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-23T03:13:48.218001Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"CA70i8jN6sBq3uAzyGPpaXPWK+/IYKeyJuz4fxB/5VkV+Li/T4BJvRuvy+ATinQZLhsVjgFZmM/5TDJRCaBXBA==","signature_status":"signed_v1","signed_at":"2026-06-23T03:13:48.218463Z","signed_message":"canonical_sha256_bytes"},"source_id":"2510.02614","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c5d4933bfa06668602511f258a9189fb3e403b6aa980a9a1b5bc07f4ad8e1d6f","sha256:ccedb11e14ffeb855001ecb9517cbca88bbe17c91d7d3fbe8c091fe86c7b1907"],"state_sha256":"3a47127ab4d2aac62717c5e59dd8e9d4498a8f96708546442dfe7fbe17c20d1e"}