{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:WAHDUL27JQO6AD7I3JDDMPBZRA","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":"fbc28b12bfab3a9cd135c167f8aec7bccb196ea7a3fafe31bcce1efe02594527","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-09T17:23:04Z","title_canon_sha256":"047c321ef35219f7d81a3e3800c46166f36adc7a2211508f84074260d34cf404"},"schema_version":"1.0","source":{"id":"2410.07078","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.07078","created_at":"2026-07-05T09:54:47Z"},{"alias_kind":"arxiv_version","alias_value":"2410.07078v3","created_at":"2026-07-05T09:54:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.07078","created_at":"2026-07-05T09:54:47Z"},{"alias_kind":"pith_short_12","alias_value":"WAHDUL27JQO6","created_at":"2026-07-05T09:54:47Z"},{"alias_kind":"pith_short_16","alias_value":"WAHDUL27JQO6AD7I","created_at":"2026-07-05T09:54:47Z"},{"alias_kind":"pith_short_8","alias_value":"WAHDUL27","created_at":"2026-07-05T09:54:47Z"}],"graph_snapshots":[{"event_id":"sha256:8a0fbb94546103d4e677cad282f49f2364bb881dc609e57587d3d485b7c53ce8","target":"graph","created_at":"2026-07-05T09:54:47Z","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/2410.07078/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"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","authors_text":"Ben Eisner, David Held, Wen Hui Leng, Yiming Fang, Yishu Li","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-09T17:23:04Z","title":"FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.07078","kind":"arxiv","version":3},"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:a3e13bdc5f7f6c9a9f90d30a4cd3279dbd3387dffb04ec78169739d4e1707b98","target":"record","created_at":"2026-07-05T09:54:47Z","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":"fbc28b12bfab3a9cd135c167f8aec7bccb196ea7a3fafe31bcce1efe02594527","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-09T17:23:04Z","title_canon_sha256":"047c321ef35219f7d81a3e3800c46166f36adc7a2211508f84074260d34cf404"},"schema_version":"1.0","source":{"id":"2410.07078","kind":"arxiv","version":3}},"canonical_sha256":"b00e3a2f5f4c1de00fe8da46363c3988259d3d551796f7ff25f34497578c075b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b00e3a2f5f4c1de00fe8da46363c3988259d3d551796f7ff25f34497578c075b","first_computed_at":"2026-07-05T09:54:47.731160Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:54:47.731160Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"lI11Cb3FlW/w9uf0QaUfHKeSCWLtah14ljWTw9QADvBnZ1gSrXvrEMEkYMyuD2R+GFGPIpapxAWo1HtEvCxODw==","signature_status":"signed_v1","signed_at":"2026-07-05T09:54:47.731677Z","signed_message":"canonical_sha256_bytes"},"source_id":"2410.07078","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a3e13bdc5f7f6c9a9f90d30a4cd3279dbd3387dffb04ec78169739d4e1707b98","sha256:8a0fbb94546103d4e677cad282f49f2364bb881dc609e57587d3d485b7c53ce8"],"state_sha256":"a7dbf49b72c61c17b1548656060c0eb7d8e8c61c06b49c829e500ce51a4b7bf8"}