{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:737RLAB43ERAIQHYSFOTBER22T","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":"018af5e6e3dfad8c1f6b1bb5bcede853194a69a0190f7f52616dde10d6e1295c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-19T18:32:10Z","title_canon_sha256":"b117ba64a449ccf22fcf283ca5b438bd9361890d0b7663580beef5fb51b7278d"},"schema_version":"1.0","source":{"id":"2403.13085","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.13085","created_at":"2026-07-05T07:58:31Z"},{"alias_kind":"arxiv_version","alias_value":"2403.13085v1","created_at":"2026-07-05T07:58:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.13085","created_at":"2026-07-05T07:58:31Z"},{"alias_kind":"pith_short_12","alias_value":"737RLAB43ERA","created_at":"2026-07-05T07:58:31Z"},{"alias_kind":"pith_short_16","alias_value":"737RLAB43ERAIQHY","created_at":"2026-07-05T07:58:31Z"},{"alias_kind":"pith_short_8","alias_value":"737RLAB4","created_at":"2026-07-05T07:58:31Z"}],"graph_snapshots":[{"event_id":"sha256:174381916487e556db517c746ed2b404a04f272aee4ef5c29e0c47d6663de5b7","target":"graph","created_at":"2026-07-05T07:58:31Z","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/2403.13085/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Manipulation of articulated and deformable objects can be difficult due to their compliant and under-actuated nature. Unexpected disturbances can cause the object to deviate from a predicted state, making it necessary to use Model-Predictive Control (MPC) methods to plan motion. However, these methods need a short planning horizon to be practical. Thus, MPC is ill-suited for long-horizon manipulation tasks due to local minima. In this paper, we present a diffusion-based method that guides an MPC method to accomplish long-horizon manipulation tasks by dynamically specifying sequences of subgoal","authors_text":"Dmitry Berenson, Fan Yang, Yating Lin, Zixuan Huang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-19T18:32:10Z","title":"Subgoal Diffuser: Coarse-to-fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.13085","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":"sha256:1251795576dd6137dcc8a42859a61836a86478c20f809ad8064b568745d1b460","target":"record","created_at":"2026-07-05T07:58:31Z","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":"018af5e6e3dfad8c1f6b1bb5bcede853194a69a0190f7f52616dde10d6e1295c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-19T18:32:10Z","title_canon_sha256":"b117ba64a449ccf22fcf283ca5b438bd9361890d0b7663580beef5fb51b7278d"},"schema_version":"1.0","source":{"id":"2403.13085","kind":"arxiv","version":1}},"canonical_sha256":"feff15803cd9220440f8915d30923ad4e6b3944a2c59b6704918dfd4e7df1576","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"feff15803cd9220440f8915d30923ad4e6b3944a2c59b6704918dfd4e7df1576","first_computed_at":"2026-07-05T07:58:31.065799Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:58:31.065799Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"WQ0UsXmrnzmohO7rsvQ/UuiLpTlE92mxqBl7gg6uJJMgmtR9qS4bcw4Fe3QC4yGut6xqd9p5AtBiyOeX8tQPDg==","signature_status":"signed_v1","signed_at":"2026-07-05T07:58:31.066434Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.13085","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1251795576dd6137dcc8a42859a61836a86478c20f809ad8064b568745d1b460","sha256:174381916487e556db517c746ed2b404a04f272aee4ef5c29e0c47d6663de5b7"],"state_sha256":"7934e87789b08eb63e08fbc55ee5d8cc8dd43b204b253f7301722eb0cd32cda5"}