Claim

In two UR10 tabletop scenes, the navigation-function-supervised SE(3) neural potential field converged within 3 cm of the grasp from every start and produced collision-free paths against ground-truth geometry, whereas image-only supervision produced 25% and 0% collision-free rates in the two scenes.

Type QUANTITATIVE · truth-evaluable: yes · status at snapshot: ACTIVE · created seq 16180 · qualifiers {"population":"Two tabletop scenes with obstacle-blocked starts executed on a UR10","source_edition":"41b29d2f-0ce8-8105-a26f-f015f5b64ac4"}

41 words; atomic claims are usually under 25a conjunction joins clauses that may be separately evaluablea comma-separated series may list several propositions

Referenced 79 times: checked 1, looked up by assistants 0, viewed 57, shared 21. A count of attention, not evidence.

Topics

Software · 1efd24fe Technology · 1efd24fe

Assessment

Supported

Score: 0.8581 under ledger-default@0.3.0 at snapshot 27745

2 of 4 review checks done · 0 counted · 2 by the author only

1 independent evidence lineage · review checks 0 of 4 · stability MEDIUM

Main unresolved issue: 2 counted evidence items have no independence review; repeats of one origin may be counted as several coverage:dbaafb12-6dd1-8689-97e4-13fd00a3f605

Not yet independently audited.Evidence reviewed so far supports this claim, but only 0 of 4 review checks have been done.Every quoted passage was confirmed on the page when Galedra fetched it.

Why?

Strongest counted support: The abstract reports convergence within 3 cm, collision-free paths for the navigation-function field, and lower collision-free rates for image-only supervision. weight 1.800000 evidence

Suppressed as dependent: The passage directly reports the two-scene UR10 setup, 3-cm convergence, collision-free paths, and image-only collision-free comparison rates.

Review gaps: qualifiers reviewed, opposing search done, independence reviewed, primary source reviewed

What would most change this: One independent, direct measurement that contradicts this claim would move it from Supported to Unresolved.

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Checked as part of

Statements this claim was broken out of. The claim is scored on its own; a statement's reading only counts its claims.

“A neural potential field learned from posed RGB images and navigation-function supervision produced safer 6-DoF grasp trajectories than image-only...” · 2 claims · 29 September 2026

Evidence for

The abstract reports convergence within 3 cm, collision-free paths for the navigation-function field, and lower collision-free rates for image-only supervision.

From SE(3) Neural Potential Fields for 6-DoF Trajectory Planning Directly from Images Without Explicit 3D Reconstruction Read 2026-09-29 Relevance DIRECT Steps 0 Counted
The passage directly reports the two-scene UR10 setup, 3-cm convergence, collision-free paths, and image-only collision-free comparison rates.

From SE(3) Neural Potential Fields for 6-DoF Trajectory Planning Directly from Images Without Explicit 3D Reconstruction Read 2026-09-29 Relevance DIRECT Steps 0 Counted

Evidence against

None.

Qualifications

None.

Suppressed as dependent

Evidence	Group	Kept instead
ba09a6f3		5e4d2950

Inferences

Concluded from

None.

Used as a premise in

None.

An inference is interpretation, not evidence: it never changes the assessment of its conclusion. Each premise is a claim with its own evidence.

Threads

None. Threads are for disagreements about how a determination was made — a statement whose figures are not in the passage it rests on, two sources that may share an origin. Something about the world belongs in the evidence above.

Claim edges

None. Edges are stored and displayed; v0.1 does not propagate probability across them.

Review checklist

Review checks: 0 of 4

3 checks by this claim's own author. No independent review yet. 1 OPPOSING EVIDENCE SEARCH · 1 QUALIFIER CHECK · 1 EVIDENCE VERIFICATION. A check by the person who recorded a claim does not raise its review coverage.

Check	Done	By
qualifiers reviewed	no
opposing search done	no
independence reviewed	no
primary source reviewed	no

Summary

Supported. The main support is: The abstract reports convergence within 3 cm, collision-free paths for the navigation-function field, and lower collision-free rates for image-only supervision. 515fa29b

1 further item repeats the same origin and is not independent evidence. ba09a6f3

A search for evidence in the opposing direction found none. f80ec31e

Review checks: 0 of 4. coverage:dbaafb12-6dd1-8689-97e4-13fd00a3f605

Generated by stub-v0.1; every sentence cites graph ids.

Contribution history

seq	event	detail
16180	APPENDED
16181	ACCEPT	AUTOMATIC_AFTER_VALIDATION
16192	LINK_EVIDENCE	by 1efd24fe (accepted)
16198	TASK_RESULT	by 1efd24fe (accepted)