{"_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_d77ae79a62bf0cfa4cc41cdbf51618052377c8736888fe9e5546f07551b5b63c","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_d77ae79a62bf0cfa4cc41cdbf51618052377c8736888fe9e5546f07551b5b63c","axiom_type":"AX.OBS","body":{"axiom_subtype":"news.vendor_press.v1","category":"news","fingerprint":"37b55a85cc83af4bae04fc5b6e4120da621a22eadf4c41781b2a872cfc6c196a","published":"Thu, 18 Jun 2026 00:00:00 -0400","receipt_hash":"37b55a85cc83af4bae04fc5b6e4120da621a22eadf4c41781b2a872cfc6c196a","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":"37b55a85cc83af4bae04fc5b6e4120da621a22eadf4c41781b2a872cfc6c196a","observed_at":"2026-06-18T04:43:37.219665Z","parent_run_hash":"de79a40f7b3537d88842f7ac355e799c5df2adcb4fc32a4e28096d4bbdf01739","published":"Thu, 18 Jun 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:2606.18861v1 Announce Type: cross \nAbstract: Reconstructing simulation-ready digital twins of articulated objects from sensor observations remains constrained by two persistent gaps: (i) part-level geometric reconstruction is decoupled from kinematic-parameter estimation, and (ii) the recovered models often violate basic dynamic invariants such as energy conservation, leading to drift when the URDF is replayed in physics simulators. We present KinemaForge, a constraint-driven pipeline that jointly infers part-level shape, joint topology, and joint parameters from short RGB-D sequences and validates the result against an energy-consistent verifier built on differentiable rigid-body dynamics. The pipeline introduces three components: a kinematic constraint graph that encodes joint-part incidences as soft edges; a differentiable screw-axis solver that backpropagates from rendered observations through Featherstone's articulated-body algorithm to joint parameters; and an energy residu","title":"URDF Synthesis from RGB-D Sequences via Differentiable Joint Inference and Energy-Consistent Verification","url":"https://arxiv.org/abs/2606.18861","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.18861v1 Announce Type: cross \nAbstract: Reconstructing simulation-ready digital twins of articulated objects from sensor observations remains constrained by two persistent gaps: (i) part-level geometric reconstruction is decoupled from kinematic-parameter estimation, and (ii) the recovered models often violate basic dynamic invariants such as energy conservation, leading to drift when the URDF is replayed in physics simulators. We present KinemaForge, a constraint-driven pipeline that jointly infers part-level shape, joint topology, and joint parameters from short RGB-D sequences and validates the result against an energy-consistent verifier built on differentiable rigid-body dynamics. The pipeline introduces three components: a kinematic constraint graph that encodes joint-part incidences as soft edges; a differentiable screw-axis solver that backpropagates from rendered observations through Featherstone's articulated-body algorithm to joint parameters; and an energy residu","title":"URDF Synthesis from RGB-D Sequences via Differentiable Joint Inference and Energy-Consistent Verification","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-18T04:43:37Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.18861"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:7fc6ea21227f99e497e92c28288b43d19d9a4fc7c393bdccf401df2a6341404b1ac8878bf77de667c140ac9d18e56affc3af5482d8df2d11890152896823be01","signer":"crovia.substrate","subject":{"observed_at":"2026-06-18T04:43:37Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.18861"},"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":"40d84999c44dac49531889f884fa5e6cec383b819f3af09e8ce0b2bcc6941e25","leaf_index":233384,"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":"a7cbb97bac6dcacdb2450c087f9db4fc7a9f133bd3b4f97f0f560de36a0e36ec","side":"right"},{"sibling":"6c7c2841e7b0b37c85bc58cbafeb3f3241a127faf948323c1b51a8f928610fc7","side":"right"},{"sibling":"58445d4448b69afa9c7c6496944c4a52306ecc63402975c734a08fa4848972e2","side":"right"},{"sibling":"4a1a315c226e35dad996eef5781bd2c9acec3c81c45f5ca1403fcbfd98ca9c24","side":"left"},{"sibling":"bef530fc364483d39be70621d6bc4ded9e5a2391348646f87c8ed07974037ca7","side":"right"},{"sibling":"be5a4317ba9d0ec5e9c75c717e0ee14102f5eca738960ce1468000034c65b908","side":"left"},{"sibling":"b3421717a3204821688656ab8d5c36686e7f6c789fdda23381e8f3515d1ce8da","side":"right"},{"sibling":"b4c26795680b2096400acbdc34159290b2a0589778819fc7e052c7a60bb5c873","side":"left"},{"sibling":"429c2a92a65e6eeaa2eda0a35fdb9e541472a1eace4c69a4d01a618a659a110f","side":"left"},{"sibling":"d97d1ebe04af6ea572f9d4334004d01026acffa3da5be2883c7566513c76e2c0","side":"left"},{"sibling":"571eb56e7ce00fe1f38d0ac4fc56828d01b2cfc1ab9089cde245c0656bee0514","side":"left"},{"sibling":"7ac50038a8ced3aeaf1194a2407a4a09346b0e4399da36ecde4390675a0c4bf1","side":"left"},{"sibling":"8c5e2b48dc31ef0edcd35c3db048235aa78cc48443aa2a8da3aa6e9b5524d2c4","side":"right"},{"sibling":"e616c34dbaf9456d5a6d3e2da82cde8621293c9f6d8a4cf9e441d7fd9cc81579","side":"right"},{"sibling":"94c0c932e61657f5e37fdba43f6ca9eddea8359425a7c1558dabe566911d5304","side":"right"},{"sibling":"a04392fb9f2a3a620840e3b3fecd93d12e6d224e481c162389d8ae64e7194599","side":"left"},{"sibling":"c300cf0154c136afc09b1702a0be98f4ba5b6dc5cf57e8cc714ec1eaf4196eff","side":"left"},{"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":234491,"merkle_root":"02576a6980e38bab47864ae2c57b5a5ff21e554e9bdf8f64bdf28155ff1aabec","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260618T143732Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-18T18:33:39Z","sig_algorithm":"ed25519","signature":"b6c708778fc38b7789a2b91156cfe87252a7cd3a1d29121cba11a0c78f8cf104ca3019fc50a962fa5a216bcc4922fc8f3f69c04d1f8332c6dc0d931e1012e502","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_d77ae79a62bf0cfa4cc41cdbf51618052377c8736888fe9e5546f07551b5b63c"}}