{"_canonicalization":{"envelope_id":"axm_ + sha256(envelope minus {signature, axiom_id, anchors})","envelope_signature":"ed25519(envelope minus {signature, axiom_id})","json":"sort_keys=True, separators=(',',':'), ensure_ascii=False, allow_nan=False, utf-8","leaf_hash":"sha256(0x00 || canonical_json(envelope_full))","seal_signature":"ed25519(seal minus {signature, sig_algorithm})"},"axiom_id":"axm_11a6980b597f35818d8df6979f747c927bc9094a03ae4824188b4d6e50131b50","bitcoin_anchor":{"bitcoin_attestations":["bitcoin_block_949451"],"calendar_attestations":["https://finney.calendar.eternitywall.com","https://btc.calendar.catallaxy.com","https://alice.btc.calendar.opentimestamps.org","https://bob.btc.calendar.opentimestamps.org"],"ots_url":"/registry/data/substrate/anchors/77fc9c28fae777b81da5b495b3115474df6592dfac590333213d3bdf8b94a9b3.ots","stamped_at":"2026-05-15T03:00:03Z","status":"bitcoin"},"envelope":{"anchors":[{"chain":"crovia.axiom_graph","height":0,"merkle_proof":"spider_vendor_press_v1","root_at_anchor":"spider_vendor_press_v1"}],"axiom_id":"axm_11a6980b597f35818d8df6979f747c927bc9094a03ae4824188b4d6e50131b50","axiom_type":"AX.OBS","body":{"axiom_subtype":"news.vendor_press.v1","category":"news","fingerprint":"4f2546c4352e69def275735abd78af73f6a7dbe2b54cd088f27c9fd3a52ffe41","published":"Tue, 12 May 2026 00:00:00 -0400","receipt_hash":"4f2546c4352e69def275735abd78af73f6a7dbe2b54cd088f27c9fd3a52ffe41","schema":"spider.news.vendor_press.v1","spider":"vendor_press","spider_record":{"axiom_subtype":"news.vendor_press.v1","category":"news","decision_hint":"POSITIVE","envelope_target":"AX.OBS","fingerprint":"4f2546c4352e69def275735abd78af73f6a7dbe2b54cd088f27c9fd3a52ffe41","observed_at":"2026-05-12T04:43:42.564879Z","parent_run_hash":"4cc5aca0c1b8116c9ab92405e0260204f01cf7ce2e49dea9d7e123236f5dc13b","published":"Tue, 12 May 2026 00:00:00 -0400","runtime_version":"0.1.0","schema":"spider.news.vendor_press.v1","source_status":200,"source_url":"https://export.arxiv.org/rss/cs.AI","spider":"vendor_press","summary_excerpt":"arXiv:2604.11674v2 Announce Type: replace-cross \nAbstract: Many everyday robot manipulation skills are affordance-dependent, with success determined by whether the robot contacts the functional object region required by the subsequent action. Current simulation data generators obtain contacts from generic grasp estimators or per-object manual contact annotations, but generic estimators rank stable grasps without task semantics and often select contacts that are misaligned with the downstream action, while manual contact annotations must be rewritten for each new object and task. To solve these challenges, we introduce AffordSim, a scalable data generator and benchmark that integrates open-vocabulary 3D affordance prediction into simulation-based trajectory generation. Given a natural-language task description, AffordSim synthesizes a task-relevant scene, emits affordance queries, grounds them on object surfaces, samples region-conditioned grasps, and selects executable candidates with ","title":"AffordSim: A Scalable Data Generator and Benchmark for Affordance-Aware Robotic Manipulation","url":"https://arxiv.org/abs/2604.11674","vendor":"arxiv_cs_ai"},"summary":"arXiv:2604.11674v2 Announce Type: replace-cross \nAbstract: Many everyday robot manipulation skills are affordance-dependent, with success determined by whether the robot contacts the functional object region required by the subsequent action. Current simulation data generators obtain contacts from generic grasp estimators or per-object manual contact annotations, but generic estimators rank stable grasps without task semantics and often select contacts that are misaligned with the downstream action, while manual contact annotations must be rewritten for each new object and task. To solve these challenges, we introduce AffordSim, a scalable data generator and benchmark that integrates open-vocabulary 3D affordance prediction into simulation-based trajectory generation. Given a natural-language task description, AffordSim synthesizes a task-relevant scene, emits affordance queries, grounds them on object surfaces, samples region-conditioned grasps, and selects executable candidates with ","title":"AffordSim: A Scalable Data Generator and Benchmark for Affordance-Aware Robotic Manipulation","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-05-12T04:43:42Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2604.11674"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:7e47a9f4c858a093fb7bf8c4534c97d42ad04bea21cbcfe07c257db630cc6ca1f4d8ad04a4ff063053bc27fbe94dab59b4832299e103aedac31546bbe928b107","signer":"crovia.substrate","subject":{"observed_at":"2026-05-12T04:43:42Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2604.11674"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"9494c16d1c657b7b3d1b061f30bcf9e55373c4db4ad50adac76b1f385a670e3d","leaf_index":129186,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"dfc5b70ef87c344437b6d03bec620db1beec6e0024b377ceff8a4708f554fa8d","side":"right"},{"sibling":"b1ffa7d2940ae5df41eae92bc488016ba219798185e37ad45f08cfaddb6d833f","side":"left"},{"sibling":"362775003dc495e2cb301f7a6c94ef429f6e920905b1acd154b6e32c5015f7cf","side":"right"},{"sibling":"d90f82b7fe41705fdf8bdcf2e93e93933a5c6306a9a163d01e0197e643d31d59","side":"right"},{"sibling":"0cbb89842ed58a35e45a205bf2eea695f20ce653e911beaa46ae0f795e86c9f2","side":"right"},{"sibling":"d64fe1d903643e8fc8de9d0cbc3750ad53407563e74a27a90e4aab522dcf724c","side":"left"},{"sibling":"f8bbf290dd1dc52ae72c42d03c2cdc00f8515b742ac137b342a67e7406e8c59b","side":"right"},{"sibling":"6cffd83b66fa63950542ea9b737e53228a66f295a7ebb44ea9155b70f279094c","side":"left"},{"sibling":"bb93634b6ea81ccfb7b9c5b023ffaff85acd8b3f1ec609973d847fd93873d3ec","side":"right"},{"sibling":"9922155d12ac3db561299f0abaec57fc59dd8e711d91cd590823abd8f3e4647f","side":"right"},{"sibling":"9c71dae5b380aff58527385ccecc23b4cd8ff36395d4fc35ad5236b00fcb6db8","side":"right"},{"sibling":"d32d0a951c1d7e98a8e1951a587d83c97962daeeaa455643bc1d5d53744dc21e","side":"left"},{"sibling":"ffc4d51379293bc3e1910c7d612f409dc610fd9acf8241793fb89f82e1bad4ef","side":"left"},{"sibling":"62ac6554017807bd83187f5a3e5f4f72d6c482616429c2780e9fff1f4845fa04","side":"left"},{"sibling":"3a5e69cf0803f4c91f3895ed7c9a95748fef240bec4422e167c05300f79f06c0","side":"left"},{"sibling":"f2817ab288b5324fe49770372c7a10f33f7cd11005f8d4c0a730316f5229dc98","side":"left"},{"sibling":"725fac972e772ca0dc598810ea1abc70df472f72d2d6ab8a0baee2b80e5d2f4c","side":"left"},{"sibling":"98fc57dfef8873b512edc8340f7181df57302bb96777625e072235c62d7c5895","side":"right"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":134292,"merkle_root":"77fc9c28fae777b81da5b495b3115474df6592dfac590333213d3bdf8b94a9b3","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260515T023701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-05-15T02:37:25Z","sig_algorithm":"ed25519","signature":"68107a834b00b24f5d4501e5ec727445311f132a486567ecc4c72a4e6dff24c8c21f2de3105293353ba5fdbe370d032819af6aa70f694e2e39b6af6737507009","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_11a6980b597f35818d8df6979f747c927bc9094a03ae4824188b4d6e50131b50"}}