{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:5WKBMK6FRHXPI7UGIBFXHKAVFD","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":"e2e8abc65a0bd9b88ef814bccf5da1db9705614ad3b61e297721185fda5e0ab0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-04-15T12:32:31Z","title_canon_sha256":"5c78c7e2ff04a2703ad1f4cdf9719d29e75c4c12c375a0f3a24422f9abb22292"},"schema_version":"1.0","source":{"id":"2004.07400","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2004.07400","created_at":"2026-07-05T00:55:32Z"},{"alias_kind":"arxiv_version","alias_value":"2004.07400v1","created_at":"2026-07-05T00:55:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2004.07400","created_at":"2026-07-05T00:55:32Z"},{"alias_kind":"pith_short_12","alias_value":"5WKBMK6FRHXP","created_at":"2026-07-05T00:55:32Z"},{"alias_kind":"pith_short_16","alias_value":"5WKBMK6FRHXPI7UG","created_at":"2026-07-05T00:55:32Z"},{"alias_kind":"pith_short_8","alias_value":"5WKBMK6F","created_at":"2026-07-05T00:55:32Z"}],"graph_snapshots":[{"event_id":"sha256:79fa794ac238490dd2250124ca65ffa46653ae7c2f40107fd9a3a04f6c5f1395","target":"graph","created_at":"2026-07-05T00:55:32Z","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/2004.07400/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Affordances are key attributes of what must be perceived by an autonomous robotic agent in order to effectively interact with novel objects. Historically, the concept derives from the literature in psychology and cognitive science, where affordances are discussed in a way that makes it hard for the definition to be directly transferred to computational specifications useful for robots. This review article is focused specifically on robotics, so we discuss the related literature from this perspective. In this survey, we classify the literature and try to find common ground amongst different app","authors_text":"\\`Eric Pairet, Katrin S. Lohan, Paola Ard\\'on, Ronald P. A. Petrick, Subramanian Ramamoorthy","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-04-15T12:32:31Z","title":"Affordances in Robotic Tasks -- A Survey"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2004.07400","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":"sha256:4dadf261f70ee7f0f8c84d1a472e7325384bdfb8db2748de37da5b5b690aa567","target":"record","created_at":"2026-07-05T00:55:32Z","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":"e2e8abc65a0bd9b88ef814bccf5da1db9705614ad3b61e297721185fda5e0ab0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-04-15T12:32:31Z","title_canon_sha256":"5c78c7e2ff04a2703ad1f4cdf9719d29e75c4c12c375a0f3a24422f9abb22292"},"schema_version":"1.0","source":{"id":"2004.07400","kind":"arxiv","version":1}},"canonical_sha256":"ed94162bc589eef47e86404b73a81528fe0e5124f6dea47384e53e7a018fb638","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ed94162bc589eef47e86404b73a81528fe0e5124f6dea47384e53e7a018fb638","first_computed_at":"2026-07-05T00:55:32.943688Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:55:32.943688Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"vmirMd17tQ/edGAqS/0Nzij/pCwyMtSvwJc3gl9Lq8gIl4k615Tpl7qeVA801w22mN8LrweCvQPZtSf9D/RrDg==","signature_status":"signed_v1","signed_at":"2026-07-05T00:55:32.944028Z","signed_message":"canonical_sha256_bytes"},"source_id":"2004.07400","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4dadf261f70ee7f0f8c84d1a472e7325384bdfb8db2748de37da5b5b690aa567","sha256:79fa794ac238490dd2250124ca65ffa46653ae7c2f40107fd9a3a04f6c5f1395"],"state_sha256":"176949c520168a18f5076ccfa5de3c96a90e1c37dd53b271d56eca969c7e2ac6"}