{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:VFDFWX3AFYIVQJCBEN2BRGF2OX","short_pith_number":"pith:VFDFWX3A","canonical_record":{"source":{"id":"2607.22119","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-24T09:14:07Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"ee8deefe390d14f8889360d066ba894717282b421135303cc4379f9a018745e6","abstract_canon_sha256":"814b33d5603d3c8c27fa32879fd2afe029ae219307d2f01d0fd3d30b8a9697e9"},"schema_version":"1.0"},"canonical_sha256":"a9465b5f602e1158244123741898ba75e5aebeba9d556b402ec2ed72c76e11b9","source":{"kind":"arxiv","id":"2607.22119","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.22119","created_at":"2026-07-27T01:20:49Z"},{"alias_kind":"arxiv_version","alias_value":"2607.22119v1","created_at":"2026-07-27T01:20:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.22119","created_at":"2026-07-27T01:20:49Z"},{"alias_kind":"pith_short_12","alias_value":"VFDFWX3AFYIV","created_at":"2026-07-27T01:20:49Z"},{"alias_kind":"pith_short_16","alias_value":"VFDFWX3AFYIVQJCB","created_at":"2026-07-27T01:20:49Z"},{"alias_kind":"pith_short_8","alias_value":"VFDFWX3A","created_at":"2026-07-27T01:20:49Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:VFDFWX3AFYIVQJCBEN2BRGF2OX","target":"record","payload":{"canonical_record":{"source":{"id":"2607.22119","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-24T09:14:07Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"ee8deefe390d14f8889360d066ba894717282b421135303cc4379f9a018745e6","abstract_canon_sha256":"814b33d5603d3c8c27fa32879fd2afe029ae219307d2f01d0fd3d30b8a9697e9"},"schema_version":"1.0"},"canonical_sha256":"a9465b5f602e1158244123741898ba75e5aebeba9d556b402ec2ed72c76e11b9","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-27T01:20:49.146196Z","signature_b64":"PDhK34hlzVTUsuhhmHcl1ly8FgZr/LbHpE+hhTHO2QaMnVoSx9MLg2Yg8HmvyOGHtpaHFWYj8z8gu/zcFoTRAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a9465b5f602e1158244123741898ba75e5aebeba9d556b402ec2ed72c76e11b9","last_reissued_at":"2026-07-27T01:20:49.145208Z","signature_status":"signed_v1","first_computed_at":"2026-07-27T01:20:49.145208Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.22119","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":"2026-07-27T01:20:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"APUK8rytVtM3gmrxXZjeND6pR8tXyJvu73Sm92iVOlJoBttPgSIkHHj/kOPjpCaIVPpgKnlEwXrj8YZ7SFjfBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T23:13:20.391968Z"},"content_sha256":"fbd7621c8a5c5b4e718a62ba50c929d61a6f1ed342c89ac7c999f38df10f3f83","schema_version":"1.0","event_id":"sha256:fbd7621c8a5c5b4e718a62ba50c929d61a6f1ed342c89ac7c999f38df10f3f83"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:VFDFWX3AFYIVQJCBEN2BRGF2OX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"One Hand Watches The Other: Dynamic Multi-Agent Cooperation for Sample-Efficient Bimanual Manipulation in Dynamic Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Abhinav Valada, Jan Ole von Hartz, Joschka Boedecker","submitted_at":"2026-07-24T09:14:07Z","abstract_excerpt":"Multi-stream robot manipulation policies achieve unparalleled sample efficiency and generalization by modeling actions relative to environmental reference frames. However, existing approaches typically assume these frames to be strictly exogenous. This causal assumption collapses in dynamic settings, such as when a single robot arm manipulates a moving object or when two arms coordinate, where each arm effectively becomes part of the dynamic environment of the other. We propose DynaMAC, a lightweight, policy-agnostic framework that resolves this causal limitation while preserving the sample ef"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.22119","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/2607.22119/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":"2026-07-27T01:20:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2hCN6yCd/VXal9RZWqOvP/O/dqEBqoHF8VC30OEWsi/52oHGuaQoQFcC7dRknRMx6LjFXlSt4bLoLSHBTI3KBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T23:13:20.392461Z"},"content_sha256":"fc766a868bf11d488f7bdaeb17ad363bd62f45ce2f0b8edb6d40c6a49f3e4040","schema_version":"1.0","event_id":"sha256:fc766a868bf11d488f7bdaeb17ad363bd62f45ce2f0b8edb6d40c6a49f3e4040"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VFDFWX3AFYIVQJCBEN2BRGF2OX/bundle.json","state_url":"https://pith.science/pith/VFDFWX3AFYIVQJCBEN2BRGF2OX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VFDFWX3AFYIVQJCBEN2BRGF2OX/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":"2026-08-01T23:13:20Z","links":{"resolver":"https://pith.science/pith/VFDFWX3AFYIVQJCBEN2BRGF2OX","bundle":"https://pith.science/pith/VFDFWX3AFYIVQJCBEN2BRGF2OX/bundle.json","state":"https://pith.science/pith/VFDFWX3AFYIVQJCBEN2BRGF2OX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VFDFWX3AFYIVQJCBEN2BRGF2OX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:VFDFWX3AFYIVQJCBEN2BRGF2OX","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":"814b33d5603d3c8c27fa32879fd2afe029ae219307d2f01d0fd3d30b8a9697e9","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-24T09:14:07Z","title_canon_sha256":"ee8deefe390d14f8889360d066ba894717282b421135303cc4379f9a018745e6"},"schema_version":"1.0","source":{"id":"2607.22119","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.22119","created_at":"2026-07-27T01:20:49Z"},{"alias_kind":"arxiv_version","alias_value":"2607.22119v1","created_at":"2026-07-27T01:20:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.22119","created_at":"2026-07-27T01:20:49Z"},{"alias_kind":"pith_short_12","alias_value":"VFDFWX3AFYIV","created_at":"2026-07-27T01:20:49Z"},{"alias_kind":"pith_short_16","alias_value":"VFDFWX3AFYIVQJCB","created_at":"2026-07-27T01:20:49Z"},{"alias_kind":"pith_short_8","alias_value":"VFDFWX3A","created_at":"2026-07-27T01:20:49Z"}],"graph_snapshots":[{"event_id":"sha256:fc766a868bf11d488f7bdaeb17ad363bd62f45ce2f0b8edb6d40c6a49f3e4040","target":"graph","created_at":"2026-07-27T01:20:49Z","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/2607.22119/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Multi-stream robot manipulation policies achieve unparalleled sample efficiency and generalization by modeling actions relative to environmental reference frames. However, existing approaches typically assume these frames to be strictly exogenous. This causal assumption collapses in dynamic settings, such as when a single robot arm manipulates a moving object or when two arms coordinate, where each arm effectively becomes part of the dynamic environment of the other. We propose DynaMAC, a lightweight, policy-agnostic framework that resolves this causal limitation while preserving the sample ef","authors_text":"Abhinav Valada, Jan Ole von Hartz, Joschka Boedecker","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-24T09:14:07Z","title":"One Hand Watches The Other: Dynamic Multi-Agent Cooperation for Sample-Efficient Bimanual Manipulation in Dynamic Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.22119","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:fbd7621c8a5c5b4e718a62ba50c929d61a6f1ed342c89ac7c999f38df10f3f83","target":"record","created_at":"2026-07-27T01:20:49Z","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":"814b33d5603d3c8c27fa32879fd2afe029ae219307d2f01d0fd3d30b8a9697e9","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-24T09:14:07Z","title_canon_sha256":"ee8deefe390d14f8889360d066ba894717282b421135303cc4379f9a018745e6"},"schema_version":"1.0","source":{"id":"2607.22119","kind":"arxiv","version":1}},"canonical_sha256":"a9465b5f602e1158244123741898ba75e5aebeba9d556b402ec2ed72c76e11b9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a9465b5f602e1158244123741898ba75e5aebeba9d556b402ec2ed72c76e11b9","first_computed_at":"2026-07-27T01:20:49.145208Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-27T01:20:49.145208Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"PDhK34hlzVTUsuhhmHcl1ly8FgZr/LbHpE+hhTHO2QaMnVoSx9MLg2Yg8HmvyOGHtpaHFWYj8z8gu/zcFoTRAA==","signature_status":"signed_v1","signed_at":"2026-07-27T01:20:49.146196Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.22119","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:fbd7621c8a5c5b4e718a62ba50c929d61a6f1ed342c89ac7c999f38df10f3f83","sha256:fc766a868bf11d488f7bdaeb17ad363bd62f45ce2f0b8edb6d40c6a49f3e4040"],"state_sha256":"06e0a8476a3432cb5a404d506b2e8fbe5e5245bd5ccb3f0c05b94084badb040b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5zZvFkAwALvNs4rijbW8ZNBIVjpwFqM8h3KB3r0751Fx56349z/g035tRsOxry6V2M1VGym8sCsEmw8NEprbCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-01T23:13:20.395966Z","bundle_sha256":"12ce34978bdb213a722d29bc50c967c5786ae9f5af17165f23559a5f495d6d62"}}