{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:ZZAP7ZRVD2CSUGQ74N7BD2VZYU","short_pith_number":"pith:ZZAP7ZRV","canonical_record":{"source":{"id":"2112.00246","kind":"arxiv","version":6},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-12-01T03:00:05Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"1377705e5e170252c5462fa47cd5baeea435040abb962359066290f1c1f5d189","abstract_canon_sha256":"8244ef5aa6a16dbb48e48c865a74aa6a30f182969b63107bd0de99396d83f819"},"schema_version":"1.0"},"canonical_sha256":"ce40ffe6351e852a1a1fe37e11eab9c519f32948e8625541957f9377b3a810e9","source":{"kind":"arxiv","id":"2112.00246","version":6},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2112.00246","created_at":"2026-07-05T06:06:52Z"},{"alias_kind":"arxiv_version","alias_value":"2112.00246v6","created_at":"2026-07-05T06:06:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2112.00246","created_at":"2026-07-05T06:06:52Z"},{"alias_kind":"pith_short_12","alias_value":"ZZAP7ZRVD2CS","created_at":"2026-07-05T06:06:52Z"},{"alias_kind":"pith_short_16","alias_value":"ZZAP7ZRVD2CSUGQ7","created_at":"2026-07-05T06:06:52Z"},{"alias_kind":"pith_short_8","alias_value":"ZZAP7ZRV","created_at":"2026-07-05T06:06:52Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:ZZAP7ZRVD2CSUGQ74N7BD2VZYU","target":"record","payload":{"canonical_record":{"source":{"id":"2112.00246","kind":"arxiv","version":6},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-12-01T03:00:05Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"1377705e5e170252c5462fa47cd5baeea435040abb962359066290f1c1f5d189","abstract_canon_sha256":"8244ef5aa6a16dbb48e48c865a74aa6a30f182969b63107bd0de99396d83f819"},"schema_version":"1.0"},"canonical_sha256":"ce40ffe6351e852a1a1fe37e11eab9c519f32948e8625541957f9377b3a810e9","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:06:52.501859Z","signature_b64":"FVSQWEiOnsKveW4pW5nn8tCy/8UKnsSMW8TIDuo+aMmKWfOQfROykbkrE2xws2UZ8K1Z0TWLZvIU3GWDsCQtBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ce40ffe6351e852a1a1fe37e11eab9c519f32948e8625541957f9377b3a810e9","last_reissued_at":"2026-07-05T06:06:52.501518Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:06:52.501518Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2112.00246","source_version":6,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:06:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ndaT2wVXfrfrtBv8xPvNBiFMDJDaAuFNrbOj1ly0Wv7DDAMTs+V7bJ/E5tPawhvWtwsejJZ4TW/yLB2mDsk/Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T21:45:02.314561Z"},"content_sha256":"c6c7c28cee4d75b1035f04b22c3567f4931591fffbda12de82138e53cad0f0df","schema_version":"1.0","event_id":"sha256:c6c7c28cee4d75b1035f04b22c3567f4931591fffbda12de82138e53cad0f0df"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:ZZAP7ZRVD2CSUGQ74N7BD2VZYU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"AdaAfford: Learning to Adapt Manipulation Affordance for 3D Articulated Objects via Few-shot Interactions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Hao Dong, Jiaqi Ke, Kaichun Mo, Leonidas Guibas, Qingnan Fan, Ruihai Wu, Yian Wang","submitted_at":"2021-12-01T03:00:05Z","abstract_excerpt":"Perceiving and interacting with 3D articulated objects, such as cabinets, doors, and faucets, pose particular challenges for future home-assistant robots performing daily tasks in human environments. Besides parsing the articulated parts and joint parameters, researchers recently advocate learning manipulation affordance over the input shape geometry which is more task-aware and geometrically fine-grained. However, taking only passive observations as inputs, these methods ignore many hidden but important kinematic constraints (e.g., joint location and limits) and dynamic factors (e.g., joint f"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2112.00246","kind":"arxiv","version":6},"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/2112.00246/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:06:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"x6XrAJT+tFnjCnJZqJkfaPtl8t9sf+k83Gt1X1Ad+hl9G8Azj/XnAIBWFodIEnB2MERwTZmo9JGlNrr0nPClBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T21:45:02.314970Z"},"content_sha256":"2d491a98d57b28aa0d4cc923a1cf9589c29283ab28ef0e234c2af7b7cc6a8f13","schema_version":"1.0","event_id":"sha256:2d491a98d57b28aa0d4cc923a1cf9589c29283ab28ef0e234c2af7b7cc6a8f13"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZZAP7ZRVD2CSUGQ74N7BD2VZYU/bundle.json","state_url":"https://pith.science/pith/ZZAP7ZRVD2CSUGQ74N7BD2VZYU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZZAP7ZRVD2CSUGQ74N7BD2VZYU/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-05T21:45:02Z","links":{"resolver":"https://pith.science/pith/ZZAP7ZRVD2CSUGQ74N7BD2VZYU","bundle":"https://pith.science/pith/ZZAP7ZRVD2CSUGQ74N7BD2VZYU/bundle.json","state":"https://pith.science/pith/ZZAP7ZRVD2CSUGQ74N7BD2VZYU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZZAP7ZRVD2CSUGQ74N7BD2VZYU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:ZZAP7ZRVD2CSUGQ74N7BD2VZYU","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":"8244ef5aa6a16dbb48e48c865a74aa6a30f182969b63107bd0de99396d83f819","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-12-01T03:00:05Z","title_canon_sha256":"1377705e5e170252c5462fa47cd5baeea435040abb962359066290f1c1f5d189"},"schema_version":"1.0","source":{"id":"2112.00246","kind":"arxiv","version":6}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2112.00246","created_at":"2026-07-05T06:06:52Z"},{"alias_kind":"arxiv_version","alias_value":"2112.00246v6","created_at":"2026-07-05T06:06:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2112.00246","created_at":"2026-07-05T06:06:52Z"},{"alias_kind":"pith_short_12","alias_value":"ZZAP7ZRVD2CS","created_at":"2026-07-05T06:06:52Z"},{"alias_kind":"pith_short_16","alias_value":"ZZAP7ZRVD2CSUGQ7","created_at":"2026-07-05T06:06:52Z"},{"alias_kind":"pith_short_8","alias_value":"ZZAP7ZRV","created_at":"2026-07-05T06:06:52Z"}],"graph_snapshots":[{"event_id":"sha256:2d491a98d57b28aa0d4cc923a1cf9589c29283ab28ef0e234c2af7b7cc6a8f13","target":"graph","created_at":"2026-07-05T06:06:52Z","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/2112.00246/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Perceiving and interacting with 3D articulated objects, such as cabinets, doors, and faucets, pose particular challenges for future home-assistant robots performing daily tasks in human environments. Besides parsing the articulated parts and joint parameters, researchers recently advocate learning manipulation affordance over the input shape geometry which is more task-aware and geometrically fine-grained. However, taking only passive observations as inputs, these methods ignore many hidden but important kinematic constraints (e.g., joint location and limits) and dynamic factors (e.g., joint f","authors_text":"Hao Dong, Jiaqi Ke, Kaichun Mo, Leonidas Guibas, Qingnan Fan, Ruihai Wu, Yian Wang","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-12-01T03:00:05Z","title":"AdaAfford: Learning to Adapt Manipulation Affordance for 3D Articulated Objects via Few-shot Interactions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2112.00246","kind":"arxiv","version":6},"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:c6c7c28cee4d75b1035f04b22c3567f4931591fffbda12de82138e53cad0f0df","target":"record","created_at":"2026-07-05T06:06:52Z","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":"8244ef5aa6a16dbb48e48c865a74aa6a30f182969b63107bd0de99396d83f819","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2021-12-01T03:00:05Z","title_canon_sha256":"1377705e5e170252c5462fa47cd5baeea435040abb962359066290f1c1f5d189"},"schema_version":"1.0","source":{"id":"2112.00246","kind":"arxiv","version":6}},"canonical_sha256":"ce40ffe6351e852a1a1fe37e11eab9c519f32948e8625541957f9377b3a810e9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ce40ffe6351e852a1a1fe37e11eab9c519f32948e8625541957f9377b3a810e9","first_computed_at":"2026-07-05T06:06:52.501518Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:06:52.501518Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FVSQWEiOnsKveW4pW5nn8tCy/8UKnsSMW8TIDuo+aMmKWfOQfROykbkrE2xws2UZ8K1Z0TWLZvIU3GWDsCQtBA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:06:52.501859Z","signed_message":"canonical_sha256_bytes"},"source_id":"2112.00246","source_kind":"arxiv","source_version":6}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c6c7c28cee4d75b1035f04b22c3567f4931591fffbda12de82138e53cad0f0df","sha256:2d491a98d57b28aa0d4cc923a1cf9589c29283ab28ef0e234c2af7b7cc6a8f13"],"state_sha256":"2bbdc0779f7856bc0f680e03a9d42ebfb07ed7f222b16d75e7019bde1f8c1e67"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"H8NZsrrGgsnYGlgvuvofvAAT0QN1nrrs59OR6LsOnRwLF4RUWyIQZbue+1dpDaFnr//LyGrd7O9+pOg58YnMCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T21:45:02.318162Z","bundle_sha256":"8c729db1357ee5c39592a6d56059da7e31184767a9f611e2d5c88b5856a8d70b"}}