{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:UHRDEGTCDDPJMOHM546OJOB46Y","short_pith_number":"pith:UHRDEGTC","canonical_record":{"source":{"id":"2212.05211","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.LG","submitted_at":"2022-12-10T05:19:58Z","cross_cats_sorted":[],"title_canon_sha256":"8865ae871da9222994f4f0faecedfc7d642ea9157312300209245a64506ebd9f","abstract_canon_sha256":"9d3179cda37e43f86f5e798f516d2d259b3063ab29c1c2f1e1bc445fd462a76d"},"schema_version":"1.0"},"canonical_sha256":"a1e2321a6218de9638ecef3ce4b83cf63ab3b1ad0e4e166e31aeac6e99e3f211","source":{"kind":"arxiv","id":"2212.05211","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2212.05211","created_at":"2026-07-05T05:24:01Z"},{"alias_kind":"arxiv_version","alias_value":"2212.05211v1","created_at":"2026-07-05T05:24:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2212.05211","created_at":"2026-07-05T05:24:01Z"},{"alias_kind":"pith_short_12","alias_value":"UHRDEGTCDDPJ","created_at":"2026-07-05T05:24:01Z"},{"alias_kind":"pith_short_16","alias_value":"UHRDEGTCDDPJMOHM","created_at":"2026-07-05T05:24:01Z"},{"alias_kind":"pith_short_8","alias_value":"UHRDEGTC","created_at":"2026-07-05T05:24:01Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:UHRDEGTCDDPJMOHM546OJOB46Y","target":"record","payload":{"canonical_record":{"source":{"id":"2212.05211","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.LG","submitted_at":"2022-12-10T05:19:58Z","cross_cats_sorted":[],"title_canon_sha256":"8865ae871da9222994f4f0faecedfc7d642ea9157312300209245a64506ebd9f","abstract_canon_sha256":"9d3179cda37e43f86f5e798f516d2d259b3063ab29c1c2f1e1bc445fd462a76d"},"schema_version":"1.0"},"canonical_sha256":"a1e2321a6218de9638ecef3ce4b83cf63ab3b1ad0e4e166e31aeac6e99e3f211","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:24:01.425002Z","signature_b64":"gfrC764+QLPMZkM2ozLgr9+VJX/YOXkj3y8KwAJRhzI+OTXSytEWOWx/XjOjjYUradmUNuGnu/79HmSBUXwZBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a1e2321a6218de9638ecef3ce4b83cf63ab3b1ad0e4e166e31aeac6e99e3f211","last_reissued_at":"2026-07-05T05:24:01.424564Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:24:01.424564Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2212.05211","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":"2026-07-05T05:24:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ndxj8M0prsyiZWOKcnD4h6QSsyc6OWWBz33I6dl+FbkeZlGCIHFyDsyw5kOg482JSbYlOBrbezXGZz6pk3O3CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T11:08:30.911001Z"},"content_sha256":"c7639ba4fe06a2df1e6cc746edb62b9a1c34bde98f9e744dd5e55c0f9a22196e","schema_version":"1.0","event_id":"sha256:c7639ba4fe06a2df1e6cc746edb62b9a1c34bde98f9e744dd5e55c0f9a22196e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:UHRDEGTCDDPJMOHM546OJOB46Y","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"OpenD: A Benchmark for Language-Driven Door and Drawer Opening","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.LG","authors_text":"Gaurav S. Sukhatme, Govind Thattai, Liang Qiu, Qiaozi Gao, Yizhou Zhao","submitted_at":"2022-12-10T05:19:58Z","abstract_excerpt":"We introduce OPEND, a benchmark for learning how to use a hand to open cabinet doors or drawers in a photo-realistic and physics-reliable simulation environment driven by language instruction. To solve the task, we propose a multi-step planner composed of a deep neural network and rule-base controllers. The network is utilized to capture spatial relationships from images and understand semantic meaning from language instructions. Controllers efficiently execute the plan based on the spatial and semantic understanding. We evaluate our system by measuring its zero-shot performance in test data s"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2212.05211","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/2212.05211/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":"2026-07-05T05:24:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5l+UxV1V1KHyKy2VZgQ6Ay7swJ90HyocRb5WrPoFlPilGdAp1MhPp0qtUttCwFJ65z7s0zs9njZE5pvNCkIXAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T11:08:30.911387Z"},"content_sha256":"ebce71e4f0883bb9001126e349b6e1e4b575f40ebc05999aebecc9f34788b486","schema_version":"1.0","event_id":"sha256:ebce71e4f0883bb9001126e349b6e1e4b575f40ebc05999aebecc9f34788b486"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UHRDEGTCDDPJMOHM546OJOB46Y/bundle.json","state_url":"https://pith.science/pith/UHRDEGTCDDPJMOHM546OJOB46Y/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UHRDEGTCDDPJMOHM546OJOB46Y/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":"2026-07-07T11:08:30Z","links":{"resolver":"https://pith.science/pith/UHRDEGTCDDPJMOHM546OJOB46Y","bundle":"https://pith.science/pith/UHRDEGTCDDPJMOHM546OJOB46Y/bundle.json","state":"https://pith.science/pith/UHRDEGTCDDPJMOHM546OJOB46Y/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UHRDEGTCDDPJMOHM546OJOB46Y/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:UHRDEGTCDDPJMOHM546OJOB46Y","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":"9d3179cda37e43f86f5e798f516d2d259b3063ab29c1c2f1e1bc445fd462a76d","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.LG","submitted_at":"2022-12-10T05:19:58Z","title_canon_sha256":"8865ae871da9222994f4f0faecedfc7d642ea9157312300209245a64506ebd9f"},"schema_version":"1.0","source":{"id":"2212.05211","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2212.05211","created_at":"2026-07-05T05:24:01Z"},{"alias_kind":"arxiv_version","alias_value":"2212.05211v1","created_at":"2026-07-05T05:24:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2212.05211","created_at":"2026-07-05T05:24:01Z"},{"alias_kind":"pith_short_12","alias_value":"UHRDEGTCDDPJ","created_at":"2026-07-05T05:24:01Z"},{"alias_kind":"pith_short_16","alias_value":"UHRDEGTCDDPJMOHM","created_at":"2026-07-05T05:24:01Z"},{"alias_kind":"pith_short_8","alias_value":"UHRDEGTC","created_at":"2026-07-05T05:24:01Z"}],"graph_snapshots":[{"event_id":"sha256:ebce71e4f0883bb9001126e349b6e1e4b575f40ebc05999aebecc9f34788b486","target":"graph","created_at":"2026-07-05T05:24:01Z","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/2212.05211/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We introduce OPEND, a benchmark for learning how to use a hand to open cabinet doors or drawers in a photo-realistic and physics-reliable simulation environment driven by language instruction. To solve the task, we propose a multi-step planner composed of a deep neural network and rule-base controllers. The network is utilized to capture spatial relationships from images and understand semantic meaning from language instructions. Controllers efficiently execute the plan based on the spatial and semantic understanding. We evaluate our system by measuring its zero-shot performance in test data s","authors_text":"Gaurav S. Sukhatme, Govind Thattai, Liang Qiu, Qiaozi Gao, Yizhou Zhao","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.LG","submitted_at":"2022-12-10T05:19:58Z","title":"OpenD: A Benchmark for Language-Driven Door and Drawer Opening"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2212.05211","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:c7639ba4fe06a2df1e6cc746edb62b9a1c34bde98f9e744dd5e55c0f9a22196e","target":"record","created_at":"2026-07-05T05:24:01Z","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":"9d3179cda37e43f86f5e798f516d2d259b3063ab29c1c2f1e1bc445fd462a76d","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.LG","submitted_at":"2022-12-10T05:19:58Z","title_canon_sha256":"8865ae871da9222994f4f0faecedfc7d642ea9157312300209245a64506ebd9f"},"schema_version":"1.0","source":{"id":"2212.05211","kind":"arxiv","version":1}},"canonical_sha256":"a1e2321a6218de9638ecef3ce4b83cf63ab3b1ad0e4e166e31aeac6e99e3f211","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a1e2321a6218de9638ecef3ce4b83cf63ab3b1ad0e4e166e31aeac6e99e3f211","first_computed_at":"2026-07-05T05:24:01.424564Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:24:01.424564Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"gfrC764+QLPMZkM2ozLgr9+VJX/YOXkj3y8KwAJRhzI+OTXSytEWOWx/XjOjjYUradmUNuGnu/79HmSBUXwZBg==","signature_status":"signed_v1","signed_at":"2026-07-05T05:24:01.425002Z","signed_message":"canonical_sha256_bytes"},"source_id":"2212.05211","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c7639ba4fe06a2df1e6cc746edb62b9a1c34bde98f9e744dd5e55c0f9a22196e","sha256:ebce71e4f0883bb9001126e349b6e1e4b575f40ebc05999aebecc9f34788b486"],"state_sha256":"bc6f86256f0b4cfcafb089ada1e4bb5f05f5bb49998cb5961fd5bd206b7d30e9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7ATLtYh2K1vMslSjd/2MERXByyOowmpAcxdjEEyJ3t/Vj1FVI6zVTunAYj5RFWt86am7XVRy+9vUF7yTFo+1BA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T11:08:30.913385Z","bundle_sha256":"05a91badc5effaa53e9d57535020e60f4ad509719c4cf7614ff2f450f586903b"}}