{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:362S7NQJXRTTR6JQBYOHU5ST4U","short_pith_number":"pith:362S7NQJ","canonical_record":{"source":{"id":"2101.07513","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-01-19T08:49:07Z","cross_cats_sorted":[],"title_canon_sha256":"57148ec12fe34bdb6aa781f34101ce5a0e2c9ae0b666e0950b1c201a6e4073ac","abstract_canon_sha256":"e1ce8de69e45d1f1eb045b891ae8c6d6190a2203bd3bcfbe7d88fe962e72f24e"},"schema_version":"1.0"},"canonical_sha256":"dfb52fb609bc6738f9300e1c7a7653e50984a72fded4fbad02a76fdb24e93dbf","source":{"kind":"arxiv","id":"2101.07513","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2101.07513","created_at":"2026-07-05T02:30:31Z"},{"alias_kind":"arxiv_version","alias_value":"2101.07513v3","created_at":"2026-07-05T02:30:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2101.07513","created_at":"2026-07-05T02:30:31Z"},{"alias_kind":"pith_short_12","alias_value":"362S7NQJXRTT","created_at":"2026-07-05T02:30:31Z"},{"alias_kind":"pith_short_16","alias_value":"362S7NQJXRTTR6JQ","created_at":"2026-07-05T02:30:31Z"},{"alias_kind":"pith_short_8","alias_value":"362S7NQJ","created_at":"2026-07-05T02:30:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:362S7NQJXRTTR6JQBYOHU5ST4U","target":"record","payload":{"canonical_record":{"source":{"id":"2101.07513","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-01-19T08:49:07Z","cross_cats_sorted":[],"title_canon_sha256":"57148ec12fe34bdb6aa781f34101ce5a0e2c9ae0b666e0950b1c201a6e4073ac","abstract_canon_sha256":"e1ce8de69e45d1f1eb045b891ae8c6d6190a2203bd3bcfbe7d88fe962e72f24e"},"schema_version":"1.0"},"canonical_sha256":"dfb52fb609bc6738f9300e1c7a7653e50984a72fded4fbad02a76fdb24e93dbf","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:30:31.457905Z","signature_b64":"1NX03h83OMUDUH2vP66h2ZiwOQi3WGgktQTepalgvF8kEaAHIAuQq0nG5cc4qhJm1cJVDcsR0pI9X4lMhJisCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"dfb52fb609bc6738f9300e1c7a7653e50984a72fded4fbad02a76fdb24e93dbf","last_reissued_at":"2026-07-05T02:30:31.457398Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:30:31.457398Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2101.07513","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T02:30:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Xrj7gSo1jRHxIi5oDqeHK7EEhQ8owsOA4DXOvrqSP5s1DfH7m7t5DmjJzaa55Y1a2rp8npcLnhCYwDKfT0GeBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T20:33:47.265670Z"},"content_sha256":"ea525eb913400940cc914b25f79c168e88d3e8e5c585738e3c06d48bdfb7e51c","schema_version":"1.0","event_id":"sha256:ea525eb913400940cc914b25f79c168e88d3e8e5c585738e3c06d48bdfb7e51c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:362S7NQJXRTTR6JQBYOHU5ST4U","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Towards Latent Space Based Manipulation of Elastic Rods using Autoencoder Models and Robust Centerline Extractions","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"David Navarro-Alarcon, Guangfu Ma, Haibo Zhang, Jiaming Qi, Peng Zhou, Yueyong Lyu","submitted_at":"2021-01-19T08:49:07Z","abstract_excerpt":"The automatic shape control of deformable objects is a challenging (and currently hot) manipulation problem due to their high-dimensional geometric features and complex physical properties. In this study, a new methodology to manipulate elastic rods automatically into 2D desired shapes is presented. An efficient vision-based controller that uses a deep autoencoder network is designed to compute a compact representation of the object's infinite-dimensional shape. An online algorithm that approximates the sensorimotor mapping between the robot's configuration and the object's shape features is u"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2101.07513","kind":"arxiv","version":3},"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/2101.07513/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":"2026-07-05T02:30:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xiy1R5i4uW8n4O/0yAGKuhLi/9oxFWeevBUbC3aAyTFHRY1Y1HYXh3uVGf8yxL03qIoRd5H8+Ohbb03iRoOSBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T20:33:47.266159Z"},"content_sha256":"68a1109443790aa2368bef6c38348936ea16ac71c7efcc431c04ba7f56a1abd3","schema_version":"1.0","event_id":"sha256:68a1109443790aa2368bef6c38348936ea16ac71c7efcc431c04ba7f56a1abd3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/362S7NQJXRTTR6JQBYOHU5ST4U/bundle.json","state_url":"https://pith.science/pith/362S7NQJXRTTR6JQBYOHU5ST4U/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/362S7NQJXRTTR6JQBYOHU5ST4U/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":"2026-08-03T20:33:47Z","links":{"resolver":"https://pith.science/pith/362S7NQJXRTTR6JQBYOHU5ST4U","bundle":"https://pith.science/pith/362S7NQJXRTTR6JQBYOHU5ST4U/bundle.json","state":"https://pith.science/pith/362S7NQJXRTTR6JQBYOHU5ST4U/state.json","well_known_bundle":"https://pith.science/.well-known/pith/362S7NQJXRTTR6JQBYOHU5ST4U/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:362S7NQJXRTTR6JQBYOHU5ST4U","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":"e1ce8de69e45d1f1eb045b891ae8c6d6190a2203bd3bcfbe7d88fe962e72f24e","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-01-19T08:49:07Z","title_canon_sha256":"57148ec12fe34bdb6aa781f34101ce5a0e2c9ae0b666e0950b1c201a6e4073ac"},"schema_version":"1.0","source":{"id":"2101.07513","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2101.07513","created_at":"2026-07-05T02:30:31Z"},{"alias_kind":"arxiv_version","alias_value":"2101.07513v3","created_at":"2026-07-05T02:30:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2101.07513","created_at":"2026-07-05T02:30:31Z"},{"alias_kind":"pith_short_12","alias_value":"362S7NQJXRTT","created_at":"2026-07-05T02:30:31Z"},{"alias_kind":"pith_short_16","alias_value":"362S7NQJXRTTR6JQ","created_at":"2026-07-05T02:30:31Z"},{"alias_kind":"pith_short_8","alias_value":"362S7NQJ","created_at":"2026-07-05T02:30:31Z"}],"graph_snapshots":[{"event_id":"sha256:68a1109443790aa2368bef6c38348936ea16ac71c7efcc431c04ba7f56a1abd3","target":"graph","created_at":"2026-07-05T02:30:31Z","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/2101.07513/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The automatic shape control of deformable objects is a challenging (and currently hot) manipulation problem due to their high-dimensional geometric features and complex physical properties. In this study, a new methodology to manipulate elastic rods automatically into 2D desired shapes is presented. An efficient vision-based controller that uses a deep autoencoder network is designed to compute a compact representation of the object's infinite-dimensional shape. An online algorithm that approximates the sensorimotor mapping between the robot's configuration and the object's shape features is u","authors_text":"David Navarro-Alarcon, Guangfu Ma, Haibo Zhang, Jiaming Qi, Peng Zhou, Yueyong Lyu","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-01-19T08:49:07Z","title":"Towards Latent Space Based Manipulation of Elastic Rods using Autoencoder Models and Robust Centerline Extractions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2101.07513","kind":"arxiv","version":3},"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:ea525eb913400940cc914b25f79c168e88d3e8e5c585738e3c06d48bdfb7e51c","target":"record","created_at":"2026-07-05T02:30:31Z","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":"e1ce8de69e45d1f1eb045b891ae8c6d6190a2203bd3bcfbe7d88fe962e72f24e","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-01-19T08:49:07Z","title_canon_sha256":"57148ec12fe34bdb6aa781f34101ce5a0e2c9ae0b666e0950b1c201a6e4073ac"},"schema_version":"1.0","source":{"id":"2101.07513","kind":"arxiv","version":3}},"canonical_sha256":"dfb52fb609bc6738f9300e1c7a7653e50984a72fded4fbad02a76fdb24e93dbf","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dfb52fb609bc6738f9300e1c7a7653e50984a72fded4fbad02a76fdb24e93dbf","first_computed_at":"2026-07-05T02:30:31.457398Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:30:31.457398Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1NX03h83OMUDUH2vP66h2ZiwOQi3WGgktQTepalgvF8kEaAHIAuQq0nG5cc4qhJm1cJVDcsR0pI9X4lMhJisCw==","signature_status":"signed_v1","signed_at":"2026-07-05T02:30:31.457905Z","signed_message":"canonical_sha256_bytes"},"source_id":"2101.07513","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ea525eb913400940cc914b25f79c168e88d3e8e5c585738e3c06d48bdfb7e51c","sha256:68a1109443790aa2368bef6c38348936ea16ac71c7efcc431c04ba7f56a1abd3"],"state_sha256":"411094a1ec52b62b4bf95e0c064ead3216081310afa8bd11c4897967392c2d01"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xJygroHZNG5MSgmrFJl/mnQtbYOfyM7nV7LN4N/ygL9LaA0ezHC9QrPlVBVUApoFazBAoB0wOCalGZVZwFSLAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T20:33:47.269732Z","bundle_sha256":"a9b82ebcd2b596c4f3970d367803c7c244f84fc317aa2be95efd22f07939b34b"}}