{"_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_d0994c1bfdc7143f36dd1c60b66ee7b10ebb3f44323d9e8283dea392905903b8","bitcoin_anchor":{"bitcoin_attestations":[],"calendar_attestations":[],"ots_url":"","stamped_at":"","status":"pending_next_stamp"},"envelope":{"anchors":[{"chain":"crovia.axiom_graph","height":0,"merkle_proof":"spider_vendor_press_v1","root_at_anchor":"spider_vendor_press_v1"}],"axiom_id":"axm_d0994c1bfdc7143f36dd1c60b66ee7b10ebb3f44323d9e8283dea392905903b8","axiom_type":"AX.OBS","body":{"axiom_subtype":"news.vendor_press.v1","category":"news","fingerprint":"fc5fd304cb33804007dcd273b3cc63c3e99709dc6fad47484139ef75ef3b0d96","published":"Tue, 19 May 2026 00:00:00 -0400","receipt_hash":"fc5fd304cb33804007dcd273b3cc63c3e99709dc6fad47484139ef75ef3b0d96","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":"fc5fd304cb33804007dcd273b3cc63c3e99709dc6fad47484139ef75ef3b0d96","observed_at":"2026-05-19T04:43:36.782648Z","parent_run_hash":"fefa4c726316a95c5dda9fc1ca07a38a811cf7ffa9825b2f09b365abacd9b32d","published":"Tue, 19 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:2509.19102v2 Announce Type: replace-cross \nAbstract: General-purpose robotic skills from end-to-end demonstrations often leads to task-specific policies that fail to generalize beyond the training distribution. Therefore, we introduce FunCanon, a framework that converts long-horizon manipulation tasks into sequences of action chunks, each defined by an actor, verb, and object. These chunks focus policy learning on the actions themselves, rather than isolated tasks, enabling compositionality and reuse. To make policies pose-aware and category-general, we perform functional object canonicalization for functional alignment and automatic manipulation trajectory transfer, mapping objects into shared functional frames using affordance cues from large vision language models. An object centric and action centric diffusion policy FuncDiffuser trained on this aligned data naturally respects object affordances and poses, simplifying learning and improving generalization ability. Experiments","title":"FUNCanon: Learning Pose-Aware Action Primitives via Functional Object Canonicalization for Generalizable Robotic Manipulation","url":"https://arxiv.org/abs/2509.19102","vendor":"arxiv_cs_ai"},"summary":"arXiv:2509.19102v2 Announce Type: replace-cross \nAbstract: General-purpose robotic skills from end-to-end demonstrations often leads to task-specific policies that fail to generalize beyond the training distribution. Therefore, we introduce FunCanon, a framework that converts long-horizon manipulation tasks into sequences of action chunks, each defined by an actor, verb, and object. These chunks focus policy learning on the actions themselves, rather than isolated tasks, enabling compositionality and reuse. To make policies pose-aware and category-general, we perform functional object canonicalization for functional alignment and automatic manipulation trajectory transfer, mapping objects into shared functional frames using affordance cues from large vision language models. An object centric and action centric diffusion policy FuncDiffuser trained on this aligned data naturally respects object affordances and poses, simplifying learning and improving generalization ability. Experiments","title":"FUNCanon: Learning Pose-Aware Action Primitives via Functional Object Canonicalization for Generalizable Robotic Manipulation","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-05-19T04:43:36Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2509.19102"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:3698792698a1b0c4fb8068090b62de9224f7b10ca1b8a40fab7f0ed35ffa1e89c88e05744b27cdadc3c0844108b42bc7c66a57a5851ff36d03ddac436f12bf0f","signer":"crovia.substrate","subject":{"observed_at":"2026-05-19T04:43:36Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2509.19102"},"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":"3fdf43e64bce04953bdaba69ac01a46c8a96ba845a524d4e8a61ff692271c86c","leaf_index":143068,"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":"ca7a8ab29452bacd4b2a9debade1c000472e6fcde45ac23a9d9c71b58009c657","side":"right"},{"sibling":"e0eddc41afca985f9024bd77aabb0626db788aafedbeeeb7a3cf464478121a7b","side":"right"},{"sibling":"6fd2b7f56fae5be1e6e34b2b6942c4c451ebdc3ff26a96720bf35cf5ff6ad356","side":"left"},{"sibling":"b344f43d22116e74c2469276ce07c3fd4b76e33fb5c6421083f755337f3b9027","side":"left"},{"sibling":"2009fa9750e90913b23c39c605981c95a08558a763858ce91e02e6b60f7f5d71","side":"left"},{"sibling":"78e825af91ac2d75e4ae373f1b909eb4cb6579d5b6442ebcdec91ec0121c6217","side":"right"},{"sibling":"2a30f138b8547da31448eccb12eccd3a8b73072c4077608a93b355fabb840f1d","side":"left"},{"sibling":"a08bb38b15de0c5742c8163821e1b5929df17d7b24ec355bdc5003a27eafc8e7","side":"left"},{"sibling":"78a19962a2f444f055541381645626e3d4e1c8c7c2811bf54eeb89100f89f5b2","side":"right"},{"sibling":"db97141c585f6a1e6bebe92b3ea300ea0f38a2321ca286d85850b11b2dd162a6","side":"left"},{"sibling":"202f1bead178ef3785968d50d3d188264a95192a077654c331612e04a34cbfbe","side":"left"},{"sibling":"72249c8c8b068386e35d16f4bd0bbeb9ba820ca217ef0f0d28396c9fe493f5f0","side":"left"},{"sibling":"ea64599340f7ffdf17ad0cbc1d9401ef8870a347e3847bdc106d06b1673df09c","side":"right"},{"sibling":"8f4c0fbe56b6c010fbb8c782ebcd478079bb3f991d8704e2534209a075d9163c","side":"left"},{"sibling":"4db1f363729507e27a60851cf6ed334d7b9acdef194ed7d419aba4d2bd367a4a","side":"right"},{"sibling":"a86ee18c45e7fcc408b6007eaece05aa75b2d9ae30252e9e878462b4dffbef7b","side":"right"},{"sibling":"1d18e7663d43ccff0122ecc7ee12645bb16afb607b218e81b1ea2408f863cb78","side":"right"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"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":143302,"merkle_root":"999156d40a7c61d9ddd52b7338f3cbda3e68f53bace070c7b616ea194e23b123","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260519T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-05-19T05:37:30Z","sig_algorithm":"ed25519","signature":"b1a252cc66ff32bed1d10dd88a6b2a200e3856d3dbcfcc4ee55e02e00f3d548e854ed9c544704b222bd5d315492c4a935ba2d90d727c585a67899b0ad602fc05","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_d0994c1bfdc7143f36dd1c60b66ee7b10ebb3f44323d9e8283dea392905903b8"}}