{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:TY2N3TY5F46L7ZQCM755UIPMJH","short_pith_number":"pith:TY2N3TY5","canonical_record":{"source":{"id":"2509.06233","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-07T22:45:06Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"8adf36084f9155d2d9aa50a204d834dda020525ab5dfc6e05ec3d2f68396aafb","abstract_canon_sha256":"e4d45a3b1ebfe64c1d53fd69d0f5ebbcea3d405453eed881dc29f6100d10c828"},"schema_version":"1.0"},"canonical_sha256":"9e34ddcf1d2f3cbfe60267fbda21ec49cd653a1eef42c9bccb6a034de20fbbb4","source":{"kind":"arxiv","id":"2509.06233","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.06233","created_at":"2026-07-05T12:06:32Z"},{"alias_kind":"arxiv_version","alias_value":"2509.06233v1","created_at":"2026-07-05T12:06:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.06233","created_at":"2026-07-05T12:06:32Z"},{"alias_kind":"pith_short_12","alias_value":"TY2N3TY5F46L","created_at":"2026-07-05T12:06:32Z"},{"alias_kind":"pith_short_16","alias_value":"TY2N3TY5F46L7ZQC","created_at":"2026-07-05T12:06:32Z"},{"alias_kind":"pith_short_8","alias_value":"TY2N3TY5","created_at":"2026-07-05T12:06:32Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:TY2N3TY5F46L7ZQCM755UIPMJH","target":"record","payload":{"canonical_record":{"source":{"id":"2509.06233","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-07T22:45:06Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"8adf36084f9155d2d9aa50a204d834dda020525ab5dfc6e05ec3d2f68396aafb","abstract_canon_sha256":"e4d45a3b1ebfe64c1d53fd69d0f5ebbcea3d405453eed881dc29f6100d10c828"},"schema_version":"1.0"},"canonical_sha256":"9e34ddcf1d2f3cbfe60267fbda21ec49cd653a1eef42c9bccb6a034de20fbbb4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T12:06:32.127697Z","signature_b64":"YOo7SCMCHEdi9jePikHE9jCt47YRIM+JYLWB2egFiuUQZbjzah69YH2+IdYYL7I4OY4hdrv6EEzxUN8wITUxDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9e34ddcf1d2f3cbfe60267fbda21ec49cd653a1eef42c9bccb6a034de20fbbb4","last_reissued_at":"2026-07-05T12:06:32.127250Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T12:06:32.127250Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2509.06233","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T12:06:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Z7ScQl1MgX0VGiP5IvAgKGblvduFRFWf/0L43AYrm2BXgNFy0zfmgzcTx9tzbxs6i4Q2WgbG30HVdc0V2TJ2Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-11T14:56:23.906918Z"},"content_sha256":"d1ea9d20345ca0e273a73317be5f618611bea01146996d74c5618f8c16118c72","schema_version":"1.0","event_id":"sha256:d1ea9d20345ca0e273a73317be5f618611bea01146996d74c5618f8c16118c72"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:TY2N3TY5F46L7ZQCM755UIPMJH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"O$^3$Afford: One-Shot 3D Object-to-Object Affordance Grounding for Generalizable Robotic Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Tongxuan Tian, Xuhui Kang, Yen-Ling Kuo","submitted_at":"2025-09-07T22:45:06Z","abstract_excerpt":"Grounding object affordance is fundamental to robotic manipulation as it establishes the critical link between perception and action among interacting objects. However, prior works predominantly focus on predicting single-object affordance, overlooking the fact that most real-world interactions involve relationships between pairs of objects. In this work, we address the challenge of object-to-object affordance grounding under limited data contraints. Inspired by recent advances in few-shot learning with 2D vision foundation models, we propose a novel one-shot 3D object-to-object affordance lea"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.06233","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/2509.06233/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":"2026-07-05T12:06:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"T4RSOfGRz5q8egPxgNi+fEjBZRR0/00bUz+k9ZM20yIOacHSgYDHyOb87ltTB3HyjDOEnUeG8A25U9mYhWSECw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-11T14:56:23.907574Z"},"content_sha256":"0b16fe74f6a2f0e2084e3020f86300e2a1ebfda329b3f73f20654f714e3f7298","schema_version":"1.0","event_id":"sha256:0b16fe74f6a2f0e2084e3020f86300e2a1ebfda329b3f73f20654f714e3f7298"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TY2N3TY5F46L7ZQCM755UIPMJH/bundle.json","state_url":"https://pith.science/pith/TY2N3TY5F46L7ZQCM755UIPMJH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TY2N3TY5F46L7ZQCM755UIPMJH/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":"2026-07-11T14:56:23Z","links":{"resolver":"https://pith.science/pith/TY2N3TY5F46L7ZQCM755UIPMJH","bundle":"https://pith.science/pith/TY2N3TY5F46L7ZQCM755UIPMJH/bundle.json","state":"https://pith.science/pith/TY2N3TY5F46L7ZQCM755UIPMJH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TY2N3TY5F46L7ZQCM755UIPMJH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:TY2N3TY5F46L7ZQCM755UIPMJH","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":"e4d45a3b1ebfe64c1d53fd69d0f5ebbcea3d405453eed881dc29f6100d10c828","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-07T22:45:06Z","title_canon_sha256":"8adf36084f9155d2d9aa50a204d834dda020525ab5dfc6e05ec3d2f68396aafb"},"schema_version":"1.0","source":{"id":"2509.06233","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.06233","created_at":"2026-07-05T12:06:32Z"},{"alias_kind":"arxiv_version","alias_value":"2509.06233v1","created_at":"2026-07-05T12:06:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.06233","created_at":"2026-07-05T12:06:32Z"},{"alias_kind":"pith_short_12","alias_value":"TY2N3TY5F46L","created_at":"2026-07-05T12:06:32Z"},{"alias_kind":"pith_short_16","alias_value":"TY2N3TY5F46L7ZQC","created_at":"2026-07-05T12:06:32Z"},{"alias_kind":"pith_short_8","alias_value":"TY2N3TY5","created_at":"2026-07-05T12:06:32Z"}],"graph_snapshots":[{"event_id":"sha256:0b16fe74f6a2f0e2084e3020f86300e2a1ebfda329b3f73f20654f714e3f7298","target":"graph","created_at":"2026-07-05T12:06:32Z","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/2509.06233/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Grounding object affordance is fundamental to robotic manipulation as it establishes the critical link between perception and action among interacting objects. However, prior works predominantly focus on predicting single-object affordance, overlooking the fact that most real-world interactions involve relationships between pairs of objects. In this work, we address the challenge of object-to-object affordance grounding under limited data contraints. Inspired by recent advances in few-shot learning with 2D vision foundation models, we propose a novel one-shot 3D object-to-object affordance lea","authors_text":"Tongxuan Tian, Xuhui Kang, Yen-Ling Kuo","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-07T22:45:06Z","title":"O$^3$Afford: One-Shot 3D Object-to-Object Affordance Grounding for Generalizable Robotic Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.06233","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:d1ea9d20345ca0e273a73317be5f618611bea01146996d74c5618f8c16118c72","target":"record","created_at":"2026-07-05T12:06:32Z","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":"e4d45a3b1ebfe64c1d53fd69d0f5ebbcea3d405453eed881dc29f6100d10c828","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-07T22:45:06Z","title_canon_sha256":"8adf36084f9155d2d9aa50a204d834dda020525ab5dfc6e05ec3d2f68396aafb"},"schema_version":"1.0","source":{"id":"2509.06233","kind":"arxiv","version":1}},"canonical_sha256":"9e34ddcf1d2f3cbfe60267fbda21ec49cd653a1eef42c9bccb6a034de20fbbb4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9e34ddcf1d2f3cbfe60267fbda21ec49cd653a1eef42c9bccb6a034de20fbbb4","first_computed_at":"2026-07-05T12:06:32.127250Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:06:32.127250Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"YOo7SCMCHEdi9jePikHE9jCt47YRIM+JYLWB2egFiuUQZbjzah69YH2+IdYYL7I4OY4hdrv6EEzxUN8wITUxDg==","signature_status":"signed_v1","signed_at":"2026-07-05T12:06:32.127697Z","signed_message":"canonical_sha256_bytes"},"source_id":"2509.06233","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d1ea9d20345ca0e273a73317be5f618611bea01146996d74c5618f8c16118c72","sha256:0b16fe74f6a2f0e2084e3020f86300e2a1ebfda329b3f73f20654f714e3f7298"],"state_sha256":"2b55f0e9dc00934b57e7cfc6aa975befa7d151af6bbe9eba9eee0ee88dafda61"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"43W+wflQ5RJMU3A8h1917OdArjguLUr78lPuXIUODLVBlGokfycDzawXJ1KPgf0enixp8pFo5uq7xxeC008pAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-11T14:56:23.911013Z","bundle_sha256":"f07c9d9deb1b3c79f05ad8a15daafd64a64af8a3eb604b645cbff7e0315ee4fb"}}