Pith Number

pith:Z6ML7U34

pith:2026:Z6ML7U34Y4KXVFW6FQW7UVTF7X

not attested not anchored not stored refs resolved

When Absolute State Fails: Evaluating Proprioceptive Encodings for Robust Manipulation

Afshin Zeinaddini Meymand, Genki Sano, Maxime Alvarez, Pablo Ferreiro, Paul Crook, Ryo Watanabe, Suvin Kurian

A simple episode-wise relative frame for proprioceptive encoding delivers better performance and robustness than absolute state representations in real robotic manipulation.

arxiv:2605.13067 v1 · 2026-05-13 · cs.RO · cs.AI

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\usepackage{pith}
\pithnumber{Z6ML7U34Y4KXVFW6FQW7UVTF7X}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

a simple episode-wise relative frame provides the best trade-off between task performance and robustness, outperforming the baselines in extensive real-robot experiments conducted in a realistic test environment.

C2weakest assumption

That the chosen test environment and task variations sufficiently represent the broader range of frame changes encountered in real-world deployment.

C3one line summary

Episode-wise relative proprioceptive encoding outperforms absolute state baselines for robust robotic manipulation under varying reference frames.

References

19 extracted · 19 resolved · 1 Pith anchors

[1] Airoa moma dataset: A large-scale hierarchical dataset for mobile manipulation, 2025

[2] Tidybot++: An open-source holonomic mobile manipulator for robot learning, 2024

[3] An autonomous mobile robot navigation architecture for dynamic intralogistics, 2021

[4] In: 2022 International Conference on Robotics and Automation (ICRA), pp 2022 · doi:10.1109/icra46639

[5] Telexistence, “Ghost,” https://tx-inc.com/en/technology/, online; ac- cessed 13-Apr-2026 2026

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-18T03:08:58.958777Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

cf98bfd37cc7157a96de2c2dfa5665fdeef7fa3d1a98296f826013e6d315d74d

Aliases

arxiv: 2605.13067 · arxiv_version: 2605.13067v1 · doi: 10.48550/arxiv.2605.13067 · pith_short_12: Z6ML7U34Y4KX · pith_short_16: Z6ML7U34Y4KXVFW6 · pith_short_8: Z6ML7U34

Agent API

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/Z6ML7U34Y4KXVFW6FQW7UVTF7X \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: cf98bfd37cc7157a96de2c2dfa5665fdeef7fa3d1a98296f826013e6d315d74d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1a0e802d1e5e0a02a2f7dd222bb0c793a7435e846937d913f02723734876b788",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-13T06:41:56Z",
    "title_canon_sha256": "67ca21c28e5ac5a3cfcd8070a418f7268f0d8426dbdfae43f62e88937c4c7fbf"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.13067",
    "kind": "arxiv",
    "version": 1
  }
}