{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:KVZB5OB24WTES57DHZXVMSJ3TG","short_pith_number":"pith:KVZB5OB2","canonical_record":{"source":{"id":"2606.21148","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-19T06:37:43Z","cross_cats_sorted":[],"title_canon_sha256":"24cbed1730d17bc023bde99e4129cbd153f92663a5d22e0c0e02dd44b2823db1","abstract_canon_sha256":"d9db25a45d456090e6a60c79912e47cc910a2aa12deee1ae823e838ab9baa738"},"schema_version":"1.0"},"canonical_sha256":"55721eb83ae5a64977e33e6f56493b998a2f9d16eca756709cb0e98f27139345","source":{"kind":"arxiv","id":"2606.21148","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.21148","created_at":"2026-06-23T01:12:31Z"},{"alias_kind":"arxiv_version","alias_value":"2606.21148v1","created_at":"2026-06-23T01:12:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.21148","created_at":"2026-06-23T01:12:31Z"},{"alias_kind":"pith_short_12","alias_value":"KVZB5OB24WTE","created_at":"2026-06-23T01:12:31Z"},{"alias_kind":"pith_short_16","alias_value":"KVZB5OB24WTES57D","created_at":"2026-06-23T01:12:31Z"},{"alias_kind":"pith_short_8","alias_value":"KVZB5OB2","created_at":"2026-06-23T01:12:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:KVZB5OB24WTES57DHZXVMSJ3TG","target":"record","payload":{"canonical_record":{"source":{"id":"2606.21148","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-19T06:37:43Z","cross_cats_sorted":[],"title_canon_sha256":"24cbed1730d17bc023bde99e4129cbd153f92663a5d22e0c0e02dd44b2823db1","abstract_canon_sha256":"d9db25a45d456090e6a60c79912e47cc910a2aa12deee1ae823e838ab9baa738"},"schema_version":"1.0"},"canonical_sha256":"55721eb83ae5a64977e33e6f56493b998a2f9d16eca756709cb0e98f27139345","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-23T01:12:31.488604Z","signature_b64":"D0HWJzpGYIAKQu4Wm42BaZvq0HNFY9W39VogTv01WrwXJgmhGWFRJe5ZW3HG6LYhz9Clw3gniksybzcEW/SlAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"55721eb83ae5a64977e33e6f56493b998a2f9d16eca756709cb0e98f27139345","last_reissued_at":"2026-06-23T01:12:31.488123Z","signature_status":"signed_v1","first_computed_at":"2026-06-23T01:12:31.488123Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.21148","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":"2026-06-23T01:12:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"z8/CjMrLz0WDSd0BABrhvj9i3OjLkeXHd1KHrUHmIjET7i054oQahfJiXxRSN8YE9W7NJn75WoTnKk87tl3nCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T20:58:07.099681Z"},"content_sha256":"d5151e819106b3e7305cb4e4b2e815323105b377f21be24d5e277c323cdd63db","schema_version":"1.0","event_id":"sha256:d5151e819106b3e7305cb4e4b2e815323105b377f21be24d5e277c323cdd63db"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:KVZB5OB24WTES57DHZXVMSJ3TG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Pose-Agnostic Robotic Functional Grasping via Observation-Action Canonicalization","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cole Harrison, Jiankai Sun, Le Qiu, Marco Pavone, Qianzhong Chen, Suning Huang, Yang You, Yao Liu","submitted_at":"2026-06-19T06:37:43Z","abstract_excerpt":"Functional robotic grasping requires a policy that generalizes across diverse object geometries and poses while maintaining task-specific contact precision. We study this challenge through mug-handle grasping, where thin handles, instance variation, and upright or inverted placements make both perception and control sensitive to object configuration. Grasp pose detection methods operate open-loop and are sensitive to estimation errors on thin handle structures. Learned visuomotor policies must implicitly learn to handle the coupled variation in visual appearance and action direction induced by"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.21148","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/2606.21148/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":"2026-06-23T01:12:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JfjlvgvNAyLv883xUBmskOqY0rH/H6P0lAMDlO0emq+nyMLeu1sV34L3/h+ET5EoNZHhUSMa1suuGGpELYUKCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T20:58:07.100051Z"},"content_sha256":"8e0e94edfb0f387f1b81ed92fc68f76a723f0d4a0c5f130085ea82435e324c66","schema_version":"1.0","event_id":"sha256:8e0e94edfb0f387f1b81ed92fc68f76a723f0d4a0c5f130085ea82435e324c66"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KVZB5OB24WTES57DHZXVMSJ3TG/bundle.json","state_url":"https://pith.science/pith/KVZB5OB24WTES57DHZXVMSJ3TG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KVZB5OB24WTES57DHZXVMSJ3TG/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":"2026-06-27T20:58:07Z","links":{"resolver":"https://pith.science/pith/KVZB5OB24WTES57DHZXVMSJ3TG","bundle":"https://pith.science/pith/KVZB5OB24WTES57DHZXVMSJ3TG/bundle.json","state":"https://pith.science/pith/KVZB5OB24WTES57DHZXVMSJ3TG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KVZB5OB24WTES57DHZXVMSJ3TG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:KVZB5OB24WTES57DHZXVMSJ3TG","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":"d9db25a45d456090e6a60c79912e47cc910a2aa12deee1ae823e838ab9baa738","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-19T06:37:43Z","title_canon_sha256":"24cbed1730d17bc023bde99e4129cbd153f92663a5d22e0c0e02dd44b2823db1"},"schema_version":"1.0","source":{"id":"2606.21148","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.21148","created_at":"2026-06-23T01:12:31Z"},{"alias_kind":"arxiv_version","alias_value":"2606.21148v1","created_at":"2026-06-23T01:12:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.21148","created_at":"2026-06-23T01:12:31Z"},{"alias_kind":"pith_short_12","alias_value":"KVZB5OB24WTE","created_at":"2026-06-23T01:12:31Z"},{"alias_kind":"pith_short_16","alias_value":"KVZB5OB24WTES57D","created_at":"2026-06-23T01:12:31Z"},{"alias_kind":"pith_short_8","alias_value":"KVZB5OB2","created_at":"2026-06-23T01:12:31Z"}],"graph_snapshots":[{"event_id":"sha256:8e0e94edfb0f387f1b81ed92fc68f76a723f0d4a0c5f130085ea82435e324c66","target":"graph","created_at":"2026-06-23T01:12:31Z","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/2606.21148/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Functional robotic grasping requires a policy that generalizes across diverse object geometries and poses while maintaining task-specific contact precision. We study this challenge through mug-handle grasping, where thin handles, instance variation, and upright or inverted placements make both perception and control sensitive to object configuration. Grasp pose detection methods operate open-loop and are sensitive to estimation errors on thin handle structures. Learned visuomotor policies must implicitly learn to handle the coupled variation in visual appearance and action direction induced by","authors_text":"Cole Harrison, Jiankai Sun, Le Qiu, Marco Pavone, Qianzhong Chen, Suning Huang, Yang You, Yao Liu","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-19T06:37:43Z","title":"Pose-Agnostic Robotic Functional Grasping via Observation-Action Canonicalization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.21148","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:d5151e819106b3e7305cb4e4b2e815323105b377f21be24d5e277c323cdd63db","target":"record","created_at":"2026-06-23T01:12:31Z","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":"d9db25a45d456090e6a60c79912e47cc910a2aa12deee1ae823e838ab9baa738","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-19T06:37:43Z","title_canon_sha256":"24cbed1730d17bc023bde99e4129cbd153f92663a5d22e0c0e02dd44b2823db1"},"schema_version":"1.0","source":{"id":"2606.21148","kind":"arxiv","version":1}},"canonical_sha256":"55721eb83ae5a64977e33e6f56493b998a2f9d16eca756709cb0e98f27139345","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"55721eb83ae5a64977e33e6f56493b998a2f9d16eca756709cb0e98f27139345","first_computed_at":"2026-06-23T01:12:31.488123Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-23T01:12:31.488123Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"D0HWJzpGYIAKQu4Wm42BaZvq0HNFY9W39VogTv01WrwXJgmhGWFRJe5ZW3HG6LYhz9Clw3gniksybzcEW/SlAA==","signature_status":"signed_v1","signed_at":"2026-06-23T01:12:31.488604Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.21148","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d5151e819106b3e7305cb4e4b2e815323105b377f21be24d5e277c323cdd63db","sha256:8e0e94edfb0f387f1b81ed92fc68f76a723f0d4a0c5f130085ea82435e324c66"],"state_sha256":"b656c84b6e58001a0c1df7a841f7e76b9bddd7e266dcb34ad5737cecb149ee5a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Hmvr3Md5JPQX6l7oBf/UwdDbRD1HWi8K8SnW8+ywW0AYcyZ3vIo93g74DhjqrjiRFjIsLrguFsTXesOLNPD2BA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-27T20:58:07.101977Z","bundle_sha256":"1799cedd7c983bafe5ffd1bc900283258014fdcc08d4a6fefd966d11bfa2a1f3"}}