{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:WAHDUL27JQO6AD7I3JDDMPBZRA","short_pith_number":"pith:WAHDUL27","schema_version":"1.0","canonical_sha256":"b00e3a2f5f4c1de00fe8da46363c3988259d3d551796f7ff25f34497578c075b","source":{"kind":"arxiv","id":"2410.07078","version":3},"attestation_state":"computed","paper":{"title":"FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ben Eisner, David Held, Wen Hui Leng, Yiming Fang, Yishu Li","submitted_at":"2024-10-09T17:23:04Z","abstract_excerpt":"We introduce a novel approach for manipulating articulated objects which are visually ambiguous, such doors which are symmetric or which are heavily occluded. These ambiguities can cause uncertainty over different possible articulation modes: for instance, when the articulation direction (e.g. push, pull, slide) or location (e.g. left side, right side) of a fully closed door are uncertain, or when distinguishing features like the plane of the door are occluded due to the viewing angle. To tackle these challenges, we propose a history-aware diffusion network that can model multi-modal distribut"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2410.07078","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-09T17:23:04Z","cross_cats_sorted":[],"title_canon_sha256":"047c321ef35219f7d81a3e3800c46166f36adc7a2211508f84074260d34cf404","abstract_canon_sha256":"fbc28b12bfab3a9cd135c167f8aec7bccb196ea7a3fafe31bcce1efe02594527"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:54:47.731677Z","signature_b64":"lI11Cb3FlW/w9uf0QaUfHKeSCWLtah14ljWTw9QADvBnZ1gSrXvrEMEkYMyuD2R+GFGPIpapxAWo1HtEvCxODw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b00e3a2f5f4c1de00fe8da46363c3988259d3d551796f7ff25f34497578c075b","last_reissued_at":"2026-07-05T09:54:47.731160Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:54:47.731160Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ben Eisner, David Held, Wen Hui Leng, Yiming Fang, Yishu Li","submitted_at":"2024-10-09T17:23:04Z","abstract_excerpt":"We introduce a novel approach for manipulating articulated objects which are visually ambiguous, such doors which are symmetric or which are heavily occluded. These ambiguities can cause uncertainty over different possible articulation modes: for instance, when the articulation direction (e.g. push, pull, slide) or location (e.g. left side, right side) of a fully closed door are uncertain, or when distinguishing features like the plane of the door are occluded due to the viewing angle. To tackle these challenges, we propose a history-aware diffusion network that can model multi-modal distribut"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.07078","kind":"arxiv","version":3},"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/2410.07078/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2410.07078","created_at":"2026-07-05T09:54:47.731233+00:00"},{"alias_kind":"arxiv_version","alias_value":"2410.07078v3","created_at":"2026-07-05T09:54:47.731233+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.07078","created_at":"2026-07-05T09:54:47.731233+00:00"},{"alias_kind":"pith_short_12","alias_value":"WAHDUL27JQO6","created_at":"2026-07-05T09:54:47.731233+00:00"},{"alias_kind":"pith_short_16","alias_value":"WAHDUL27JQO6AD7I","created_at":"2026-07-05T09:54:47.731233+00:00"},{"alias_kind":"pith_short_8","alias_value":"WAHDUL27","created_at":"2026-07-05T09:54:47.731233+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":2,"internal_anchor_count":0,"sample":[{"citing_arxiv_id":"2606.28813","citing_title":"Human2Any: Human-to-Robot Transfer via Constraint-Aware Compositional Planning","ref_index":39,"is_internal_anchor":false},{"citing_arxiv_id":"2604.07758","citing_title":"DailyArt: Discovering Articulation from Single Static Images via Latent Dynamics","ref_index":5,"is_internal_anchor":false}]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/WAHDUL27JQO6AD7I3JDDMPBZRA","json":"https://pith.science/pith/WAHDUL27JQO6AD7I3JDDMPBZRA.json","graph_json":"https://pith.science/api/pith-number/WAHDUL27JQO6AD7I3JDDMPBZRA/graph.json","events_json":"https://pith.science/api/pith-number/WAHDUL27JQO6AD7I3JDDMPBZRA/events.json","paper":"https://pith.science/paper/WAHDUL27"},"agent_actions":{"view_html":"https://pith.science/pith/WAHDUL27JQO6AD7I3JDDMPBZRA","download_json":"https://pith.science/pith/WAHDUL27JQO6AD7I3JDDMPBZRA.json","view_paper":"https://pith.science/paper/WAHDUL27","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2410.07078&json=true","fetch_graph":"https://pith.science/api/pith-number/WAHDUL27JQO6AD7I3JDDMPBZRA/graph.json","fetch_events":"https://pith.science/api/pith-number/WAHDUL27JQO6AD7I3JDDMPBZRA/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/WAHDUL27JQO6AD7I3JDDMPBZRA/action/timestamp_anchor","attest_storage":"https://pith.science/pith/WAHDUL27JQO6AD7I3JDDMPBZRA/action/storage_attestation","attest_author":"https://pith.science/pith/WAHDUL27JQO6AD7I3JDDMPBZRA/action/author_attestation","sign_citation":"https://pith.science/pith/WAHDUL27JQO6AD7I3JDDMPBZRA/action/citation_signature","submit_replication":"https://pith.science/pith/WAHDUL27JQO6AD7I3JDDMPBZRA/action/replication_record"}},"created_at":"2026-07-05T09:54:47.731233+00:00","updated_at":"2026-07-05T09:54:47.731233+00:00"}