{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:YCT7LX3BRWMSWIFYJ4MXPW5RKY","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":"abb2e7063a782ac1e9df42640f0c599796da2602975f5d049f29798d6669736b","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-05T17:50:38Z","title_canon_sha256":"3c9f097778737485a4ab7d58aa36985de718ab9d037ae4f857ae02da2d419329"},"schema_version":"1.0","source":{"id":"2407.04689","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.04689","created_at":"2026-07-05T08:40:37Z"},{"alias_kind":"arxiv_version","alias_value":"2407.04689v1","created_at":"2026-07-05T08:40:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.04689","created_at":"2026-07-05T08:40:37Z"},{"alias_kind":"pith_short_12","alias_value":"YCT7LX3BRWMS","created_at":"2026-07-05T08:40:37Z"},{"alias_kind":"pith_short_16","alias_value":"YCT7LX3BRWMSWIFY","created_at":"2026-07-05T08:40:37Z"},{"alias_kind":"pith_short_8","alias_value":"YCT7LX3B","created_at":"2026-07-05T08:40:37Z"}],"graph_snapshots":[{"event_id":"sha256:8c65f1d6d41e113ca279c70f6f92a431fceed240503c03f323c5b0aebb155796","target":"graph","created_at":"2026-07-05T08:40:37Z","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/2407.04689/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This work proposes a retrieve-and-transfer framework for zero-shot robotic manipulation, dubbed RAM, featuring generalizability across various objects, environments, and embodiments. Unlike existing approaches that learn manipulation from expensive in-domain demonstrations, RAM capitalizes on a retrieval-based affordance transfer paradigm to acquire versatile manipulation capabilities from abundant out-of-domain data. First, RAM extracts unified affordance at scale from diverse sources of demonstrations including robotic data, human-object interaction (HOI) data, and custom data to construct a","authors_text":"Congyue Deng, Haoran Geng, He Wang, Jiageng Mao, Junjie Ye, Leonidas Guibas, Yue Wang, Yuxuan Kuang","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-05T17:50:38Z","title":"RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.04689","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":"sha256:6f22bc6649ebc627c8a7bba29f5fa978d828106be6c97eb9d8fbd3a221fa6fbe","target":"record","created_at":"2026-07-05T08:40:37Z","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":"abb2e7063a782ac1e9df42640f0c599796da2602975f5d049f29798d6669736b","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-05T17:50:38Z","title_canon_sha256":"3c9f097778737485a4ab7d58aa36985de718ab9d037ae4f857ae02da2d419329"},"schema_version":"1.0","source":{"id":"2407.04689","kind":"arxiv","version":1}},"canonical_sha256":"c0a7f5df618d992b20b84f1977dbb156166f9a02b82b3d7d722e67e7268acf39","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c0a7f5df618d992b20b84f1977dbb156166f9a02b82b3d7d722e67e7268acf39","first_computed_at":"2026-07-05T08:40:37.480386Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:40:37.480386Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Xu2tlhsnMMe98jcSCfgMmb/nS580BMTO3zFEXU7r049juoUSGFM85u1j+IUCxlPCrDyyELAPLaO5Ul5S1RPVBA==","signature_status":"signed_v1","signed_at":"2026-07-05T08:40:37.480816Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.04689","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6f22bc6649ebc627c8a7bba29f5fa978d828106be6c97eb9d8fbd3a221fa6fbe","sha256:8c65f1d6d41e113ca279c70f6f92a431fceed240503c03f323c5b0aebb155796"],"state_sha256":"3617fdf211e49dbb3673ddfc4e238844f375db8b44c7aee08ccf0f665070fb5e"}