{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:7UQGVJFL5V42DMWEZIDKX7A3D7","short_pith_number":"pith:7UQGVJFL","canonical_record":{"source":{"id":"2606.23157","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-22T11:01:56Z","cross_cats_sorted":[],"title_canon_sha256":"6877081fa6283614c958c01444b5e56cd308ce48a5f0caef3678658b0f4842db","abstract_canon_sha256":"94d2e32da5b1b7fa6fd3c5dcd1d165277d95e5f92a299eba8fddaedb7ebc31c6"},"schema_version":"1.0"},"canonical_sha256":"fd206aa4abed79a1b2c4ca06abfc1b1fec36fb0e5f891786ac490ed7f1c01d4d","source":{"kind":"arxiv","id":"2606.23157","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.23157","created_at":"2026-06-23T03:14:11Z"},{"alias_kind":"arxiv_version","alias_value":"2606.23157v1","created_at":"2026-06-23T03:14:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.23157","created_at":"2026-06-23T03:14:11Z"},{"alias_kind":"pith_short_12","alias_value":"7UQGVJFL5V42","created_at":"2026-06-23T03:14:11Z"},{"alias_kind":"pith_short_16","alias_value":"7UQGVJFL5V42DMWE","created_at":"2026-06-23T03:14:11Z"},{"alias_kind":"pith_short_8","alias_value":"7UQGVJFL","created_at":"2026-06-23T03:14:11Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:7UQGVJFL5V42DMWEZIDKX7A3D7","target":"record","payload":{"canonical_record":{"source":{"id":"2606.23157","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-22T11:01:56Z","cross_cats_sorted":[],"title_canon_sha256":"6877081fa6283614c958c01444b5e56cd308ce48a5f0caef3678658b0f4842db","abstract_canon_sha256":"94d2e32da5b1b7fa6fd3c5dcd1d165277d95e5f92a299eba8fddaedb7ebc31c6"},"schema_version":"1.0"},"canonical_sha256":"fd206aa4abed79a1b2c4ca06abfc1b1fec36fb0e5f891786ac490ed7f1c01d4d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-23T03:14:11.625745Z","signature_b64":"RTMeC1RrhQOb4gi4f11W7TJ1OUk/IE8C+rmcUbTbAP/Td7TNpkAAWTdLwiUhlvdAZcPAelFJggTnN/kc5KgtAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"fd206aa4abed79a1b2c4ca06abfc1b1fec36fb0e5f891786ac490ed7f1c01d4d","last_reissued_at":"2026-06-23T03:14:11.625347Z","signature_status":"signed_v1","first_computed_at":"2026-06-23T03:14:11.625347Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.23157","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-23T03:14:11Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"McFrNOHAWlB6jl5JRKrBTWFI6XHc2cilCRl+XKarXC4jPwPSVtc9h2iCPbgZh1MUD7iOqsWqdkZEspm0mzFoCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T08:38:23.568179Z"},"content_sha256":"1aa021526429e22587fa99e7dab8e04076099457d12397f35f1af1da33db4d3a","schema_version":"1.0","event_id":"sha256:1aa021526429e22587fa99e7dab8e04076099457d12397f35f1af1da33db4d3a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:7UQGVJFL5V42DMWEZIDKX7A3D7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Bridging Semantics and Kinematics: A Modular Framework for Zero-Shot Robotic Manipulation","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alaa Elkamash, Ali Alabbas, Camillo Murgia, Dipshikha Das, Philip Long, Sainul Ansary","submitted_at":"2026-06-22T11:01:56Z","abstract_excerpt":"This paper presents a modular training-free framework for zero-shot, language-guided robotic manipulation in semi-structured environments. The architecture bridges the gap between high-level reasoning and low-level kinematics by decomposing the vision-action pipeline into three stages: visual perception, semantic interpretation, and task execution. To overcome the spatial ambiguity and semantic hallucinations inherent in standard Vision-Language Models (VLMs), the perception module employs FastSAM and Set-of-Mark (SoM) prompting to dynamically generate grounded, alphanumeric visual anchors. Th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.23157","kind":"arxiv","version":1},"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/2606.23157/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":"2026-06-23T03:14:11Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5rELdzEjIvvzQTOM7kuJwotQ9Y64Cl+i55HYmnJrldC24LYt8nv6qGot/IZ/5zejZDU2D+fVsKTha1DC4aCgCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T08:38:23.568572Z"},"content_sha256":"2605172c43d3f4db9e4d6402a212ee02ae938910b2c05d0ca91d805495648ca1","schema_version":"1.0","event_id":"sha256:2605172c43d3f4db9e4d6402a212ee02ae938910b2c05d0ca91d805495648ca1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7UQGVJFL5V42DMWEZIDKX7A3D7/bundle.json","state_url":"https://pith.science/pith/7UQGVJFL5V42DMWEZIDKX7A3D7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7UQGVJFL5V42DMWEZIDKX7A3D7/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":"2026-06-28T08:38:23Z","links":{"resolver":"https://pith.science/pith/7UQGVJFL5V42DMWEZIDKX7A3D7","bundle":"https://pith.science/pith/7UQGVJFL5V42DMWEZIDKX7A3D7/bundle.json","state":"https://pith.science/pith/7UQGVJFL5V42DMWEZIDKX7A3D7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7UQGVJFL5V42DMWEZIDKX7A3D7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:7UQGVJFL5V42DMWEZIDKX7A3D7","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":"94d2e32da5b1b7fa6fd3c5dcd1d165277d95e5f92a299eba8fddaedb7ebc31c6","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-22T11:01:56Z","title_canon_sha256":"6877081fa6283614c958c01444b5e56cd308ce48a5f0caef3678658b0f4842db"},"schema_version":"1.0","source":{"id":"2606.23157","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.23157","created_at":"2026-06-23T03:14:11Z"},{"alias_kind":"arxiv_version","alias_value":"2606.23157v1","created_at":"2026-06-23T03:14:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.23157","created_at":"2026-06-23T03:14:11Z"},{"alias_kind":"pith_short_12","alias_value":"7UQGVJFL5V42","created_at":"2026-06-23T03:14:11Z"},{"alias_kind":"pith_short_16","alias_value":"7UQGVJFL5V42DMWE","created_at":"2026-06-23T03:14:11Z"},{"alias_kind":"pith_short_8","alias_value":"7UQGVJFL","created_at":"2026-06-23T03:14:11Z"}],"graph_snapshots":[{"event_id":"sha256:2605172c43d3f4db9e4d6402a212ee02ae938910b2c05d0ca91d805495648ca1","target":"graph","created_at":"2026-06-23T03:14:11Z","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/2606.23157/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a modular training-free framework for zero-shot, language-guided robotic manipulation in semi-structured environments. The architecture bridges the gap between high-level reasoning and low-level kinematics by decomposing the vision-action pipeline into three stages: visual perception, semantic interpretation, and task execution. To overcome the spatial ambiguity and semantic hallucinations inherent in standard Vision-Language Models (VLMs), the perception module employs FastSAM and Set-of-Mark (SoM) prompting to dynamically generate grounded, alphanumeric visual anchors. Th","authors_text":"Alaa Elkamash, Ali Alabbas, Camillo Murgia, Dipshikha Das, Philip Long, Sainul Ansary","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-22T11:01:56Z","title":"Bridging Semantics and Kinematics: A Modular Framework for Zero-Shot Robotic Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.23157","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":"sha256:1aa021526429e22587fa99e7dab8e04076099457d12397f35f1af1da33db4d3a","target":"record","created_at":"2026-06-23T03:14:11Z","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":"94d2e32da5b1b7fa6fd3c5dcd1d165277d95e5f92a299eba8fddaedb7ebc31c6","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-22T11:01:56Z","title_canon_sha256":"6877081fa6283614c958c01444b5e56cd308ce48a5f0caef3678658b0f4842db"},"schema_version":"1.0","source":{"id":"2606.23157","kind":"arxiv","version":1}},"canonical_sha256":"fd206aa4abed79a1b2c4ca06abfc1b1fec36fb0e5f891786ac490ed7f1c01d4d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fd206aa4abed79a1b2c4ca06abfc1b1fec36fb0e5f891786ac490ed7f1c01d4d","first_computed_at":"2026-06-23T03:14:11.625347Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-23T03:14:11.625347Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"RTMeC1RrhQOb4gi4f11W7TJ1OUk/IE8C+rmcUbTbAP/Td7TNpkAAWTdLwiUhlvdAZcPAelFJggTnN/kc5KgtAQ==","signature_status":"signed_v1","signed_at":"2026-06-23T03:14:11.625745Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.23157","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1aa021526429e22587fa99e7dab8e04076099457d12397f35f1af1da33db4d3a","sha256:2605172c43d3f4db9e4d6402a212ee02ae938910b2c05d0ca91d805495648ca1"],"state_sha256":"4236b3f8cfb6e51a8ceaad8adb174c0fa9347382f12c43d7b85bb269b835ea44"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"e2vEqSez0SP+QG8Ln+Mqxt65j35MMvwPAEgFKRguoo8KiKALKwKtNO7NGMojqdF3H1Gm8av/RySmnPwBOTkSCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-28T08:38:23.570654Z","bundle_sha256":"033448b74e7090bfe7fc6a925341af384c55dca9a044222d7d95ab8ec5c1a67a"}}