{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:G6KXWO7PWBUQYKFCKBJMPVMX77","short_pith_number":"pith:G6KXWO7P","canonical_record":{"source":{"id":"2505.21351","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-27T15:46:10Z","cross_cats_sorted":[],"title_canon_sha256":"2c6e935d506635df4397d13d8d1f2894dcfd9084ea3e6cb291110595cd9fe2e9","abstract_canon_sha256":"329b769a48b8e1d6beea325d6a507a88227847b180689d195936e48bc9ebba45"},"schema_version":"1.0"},"canonical_sha256":"37957b3befb0690c28a25052c7d597ffe0ac00a5459810d79ca4d46b58e427a6","source":{"kind":"arxiv","id":"2505.21351","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.21351","created_at":"2026-07-05T11:10:40Z"},{"alias_kind":"arxiv_version","alias_value":"2505.21351v1","created_at":"2026-07-05T11:10:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.21351","created_at":"2026-07-05T11:10:40Z"},{"alias_kind":"pith_short_12","alias_value":"G6KXWO7PWBUQ","created_at":"2026-07-05T11:10:40Z"},{"alias_kind":"pith_short_16","alias_value":"G6KXWO7PWBUQYKFC","created_at":"2026-07-05T11:10:40Z"},{"alias_kind":"pith_short_8","alias_value":"G6KXWO7P","created_at":"2026-07-05T11:10:40Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:G6KXWO7PWBUQYKFCKBJMPVMX77","target":"record","payload":{"canonical_record":{"source":{"id":"2505.21351","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-27T15:46:10Z","cross_cats_sorted":[],"title_canon_sha256":"2c6e935d506635df4397d13d8d1f2894dcfd9084ea3e6cb291110595cd9fe2e9","abstract_canon_sha256":"329b769a48b8e1d6beea325d6a507a88227847b180689d195936e48bc9ebba45"},"schema_version":"1.0"},"canonical_sha256":"37957b3befb0690c28a25052c7d597ffe0ac00a5459810d79ca4d46b58e427a6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:10:40.582764Z","signature_b64":"llF1fpO+L0q9zq2qsBn73akQo6TYuNA3RQaT+REYveIEIOImqvcCxIIOYOQSBoiU5IjtxUClqlVh/ERpy7D6DQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"37957b3befb0690c28a25052c7d597ffe0ac00a5459810d79ca4d46b58e427a6","last_reissued_at":"2026-07-05T11:10:40.582220Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:10:40.582220Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2505.21351","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":"2026-07-05T11:10:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tHL6cgEPv1xr64I/gwZ+SBxNeM5sEwcIeiN/vmSwoXXyfP+W1y5+6cVolSD+WEIIkRZm5ieUMis1de2KMs0uDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T09:39:53.942002Z"},"content_sha256":"2eb69225143c6b7af3aaf5df60c47957b60b99ee62709169e539adb305a23b69","schema_version":"1.0","event_id":"sha256:2eb69225143c6b7af3aaf5df60c47957b60b99ee62709169e539adb305a23b69"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:G6KXWO7PWBUQYKFCKBJMPVMX77","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"EquAct: An SE(3)-Equivariant Multi-Task Transformer for Open-Loop Robotic Manipulation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Robert Platt, Robin Walters, Xupeng Zhu, Yizhe Zhu, Yu Qi","submitted_at":"2025-05-27T15:46:10Z","abstract_excerpt":"Transformer architectures can effectively learn language-conditioned, multi-task 3D open-loop manipulation policies from demonstrations by jointly processing natural language instructions and 3D observations. However, although both the robot policy and language instructions inherently encode rich 3D geometric structures, standard transformers lack built-in guarantees of geometric consistency, often resulting in unpredictable behavior under SE(3) transformations of the scene. In this paper, we leverage SE(3) equivariance as a key structural property shared by both policy and language, and propo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.21351","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/2505.21351/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":"2026-07-05T11:10:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PZ77cUvwUwpUQo10mA4I0VvRTZlA3EV+3FsIAEA6JwD2cm7eJwuOL6CfBOc3hybdN9XqSTl+AhpvSAnCXQeMAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T09:39:53.942382Z"},"content_sha256":"bc5610b17e28addb173767d31ce0b53885a7ee08c1937f5c50d3b157c74be7c6","schema_version":"1.0","event_id":"sha256:bc5610b17e28addb173767d31ce0b53885a7ee08c1937f5c50d3b157c74be7c6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/G6KXWO7PWBUQYKFCKBJMPVMX77/bundle.json","state_url":"https://pith.science/pith/G6KXWO7PWBUQYKFCKBJMPVMX77/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/G6KXWO7PWBUQYKFCKBJMPVMX77/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":"2026-07-07T09:39:53Z","links":{"resolver":"https://pith.science/pith/G6KXWO7PWBUQYKFCKBJMPVMX77","bundle":"https://pith.science/pith/G6KXWO7PWBUQYKFCKBJMPVMX77/bundle.json","state":"https://pith.science/pith/G6KXWO7PWBUQYKFCKBJMPVMX77/state.json","well_known_bundle":"https://pith.science/.well-known/pith/G6KXWO7PWBUQYKFCKBJMPVMX77/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:G6KXWO7PWBUQYKFCKBJMPVMX77","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":"329b769a48b8e1d6beea325d6a507a88227847b180689d195936e48bc9ebba45","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-27T15:46:10Z","title_canon_sha256":"2c6e935d506635df4397d13d8d1f2894dcfd9084ea3e6cb291110595cd9fe2e9"},"schema_version":"1.0","source":{"id":"2505.21351","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.21351","created_at":"2026-07-05T11:10:40Z"},{"alias_kind":"arxiv_version","alias_value":"2505.21351v1","created_at":"2026-07-05T11:10:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.21351","created_at":"2026-07-05T11:10:40Z"},{"alias_kind":"pith_short_12","alias_value":"G6KXWO7PWBUQ","created_at":"2026-07-05T11:10:40Z"},{"alias_kind":"pith_short_16","alias_value":"G6KXWO7PWBUQYKFC","created_at":"2026-07-05T11:10:40Z"},{"alias_kind":"pith_short_8","alias_value":"G6KXWO7P","created_at":"2026-07-05T11:10:40Z"}],"graph_snapshots":[{"event_id":"sha256:bc5610b17e28addb173767d31ce0b53885a7ee08c1937f5c50d3b157c74be7c6","target":"graph","created_at":"2026-07-05T11:10:40Z","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/2505.21351/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Transformer architectures can effectively learn language-conditioned, multi-task 3D open-loop manipulation policies from demonstrations by jointly processing natural language instructions and 3D observations. However, although both the robot policy and language instructions inherently encode rich 3D geometric structures, standard transformers lack built-in guarantees of geometric consistency, often resulting in unpredictable behavior under SE(3) transformations of the scene. In this paper, we leverage SE(3) equivariance as a key structural property shared by both policy and language, and propo","authors_text":"Robert Platt, Robin Walters, Xupeng Zhu, Yizhe Zhu, Yu Qi","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-27T15:46:10Z","title":"EquAct: An SE(3)-Equivariant Multi-Task Transformer for Open-Loop Robotic Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.21351","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":"sha256:2eb69225143c6b7af3aaf5df60c47957b60b99ee62709169e539adb305a23b69","target":"record","created_at":"2026-07-05T11:10:40Z","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":"329b769a48b8e1d6beea325d6a507a88227847b180689d195936e48bc9ebba45","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-27T15:46:10Z","title_canon_sha256":"2c6e935d506635df4397d13d8d1f2894dcfd9084ea3e6cb291110595cd9fe2e9"},"schema_version":"1.0","source":{"id":"2505.21351","kind":"arxiv","version":1}},"canonical_sha256":"37957b3befb0690c28a25052c7d597ffe0ac00a5459810d79ca4d46b58e427a6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"37957b3befb0690c28a25052c7d597ffe0ac00a5459810d79ca4d46b58e427a6","first_computed_at":"2026-07-05T11:10:40.582220Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:10:40.582220Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"llF1fpO+L0q9zq2qsBn73akQo6TYuNA3RQaT+REYveIEIOImqvcCxIIOYOQSBoiU5IjtxUClqlVh/ERpy7D6DQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:10:40.582764Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.21351","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2eb69225143c6b7af3aaf5df60c47957b60b99ee62709169e539adb305a23b69","sha256:bc5610b17e28addb173767d31ce0b53885a7ee08c1937f5c50d3b157c74be7c6"],"state_sha256":"2e88bfa49ee50514fc3c08e18907b00e0b7e13e951206f9396a1cf75243cf773"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YsOWKf4ZDfh4TGs323DB3+N4898pF66Lj+wCSSDcnlWTwCj8qziYYTHw90w4akFkQKbGeCPEVj82cFTABzq+BQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T09:39:53.944345Z","bundle_sha256":"745b21176381f1d8ff8fea2c3136ce6edff7d513b7570e180cc37e2e9639d4f5"}}