{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:VJLAHXTN3L4JNT6CX2JKXMXZFV","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":"f96712e8a478f7fac7c3d003843d730e2e677ba525432d3e88cc4f7f5c39e851","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-21T07:46:56Z","title_canon_sha256":"887151246356c58d793b6adbc68ef26b926dc74ba4e14e953b5dd06c735b873a"},"schema_version":"1.0","source":{"id":"2410.15730","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.15730","created_at":"2026-07-05T09:23:23Z"},{"alias_kind":"arxiv_version","alias_value":"2410.15730v1","created_at":"2026-07-05T09:23:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.15730","created_at":"2026-07-05T09:23:23Z"},{"alias_kind":"pith_short_12","alias_value":"VJLAHXTN3L4J","created_at":"2026-07-05T09:23:23Z"},{"alias_kind":"pith_short_16","alias_value":"VJLAHXTN3L4JNT6C","created_at":"2026-07-05T09:23:23Z"},{"alias_kind":"pith_short_8","alias_value":"VJLAHXTN","created_at":"2026-07-05T09:23:23Z"}],"graph_snapshots":[{"event_id":"sha256:c000af2f4071956b9350f19303fcac21776ea779bc1b48278ddf29d99e8fcd69","target":"graph","created_at":"2026-07-05T09:23:23Z","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/2410.15730/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Combining accurate geometry with rich semantics has been proven to be highly effective for language-guided robotic manipulation. Existing methods for dynamic scenes either fail to update in real-time or rely on additional depth sensors for simple scene editing, limiting their applicability in real-world. In this paper, we introduce MSGField, a representation that uses a collection of 2D Gaussians for high-quality reconstruction, further enhanced with attributes to encode semantic and motion information. Specially, we represent the motion field compactly by decomposing each primitive's motion i","authors_text":"Bei Hua, Jianmin Ji, Lidian Wang, Quecheng Qiu, Runfeng Lin, Yanyong Zhang, Yu Sheng, Yu Zhang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-21T07:46:56Z","title":"MSGField: A Unified Scene Representation Integrating Motion, Semantics, and Geometry for Robotic Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.15730","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:aa19959cebf97fca5616dcb26b2c51a779ca1800c9075a9ca449235b2c8b7faa","target":"record","created_at":"2026-07-05T09:23:23Z","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":"f96712e8a478f7fac7c3d003843d730e2e677ba525432d3e88cc4f7f5c39e851","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-21T07:46:56Z","title_canon_sha256":"887151246356c58d793b6adbc68ef26b926dc74ba4e14e953b5dd06c735b873a"},"schema_version":"1.0","source":{"id":"2410.15730","kind":"arxiv","version":1}},"canonical_sha256":"aa5603de6ddaf896cfc2be92abb2f92d68718c3c47c5cb075ae01c4ea4d9cf8c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"aa5603de6ddaf896cfc2be92abb2f92d68718c3c47c5cb075ae01c4ea4d9cf8c","first_computed_at":"2026-07-05T09:23:23.887052Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:23:23.887052Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4l6Andyj/LAyd7NMH3nJ0bU/va+d7X1sYGscJ3kqQr+69vqPitficmWuc/G5CqjQ0ZLw6s0qHeGi0hxr0Io5Cg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:23:23.887609Z","signed_message":"canonical_sha256_bytes"},"source_id":"2410.15730","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:aa19959cebf97fca5616dcb26b2c51a779ca1800c9075a9ca449235b2c8b7faa","sha256:c000af2f4071956b9350f19303fcac21776ea779bc1b48278ddf29d99e8fcd69"],"state_sha256":"0c4e3852715eac1c3a3f4d4154e9e7f7a72d121268848e06dca10d4ac9a85eb4"}