{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:6II7W6VWI7LXMZ5CI55LG5GAMS","short_pith_number":"pith:6II7W6VW","canonical_record":{"source":{"id":"1908.06272","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-17T09:30:11Z","cross_cats_sorted":[],"title_canon_sha256":"afb72486e3e578390aa29fe1c4d7efc1307bf45fcb3b5ba775134e2b6fd8a732","abstract_canon_sha256":"4bad79e226ff10a7bda36358130cc4142ee6679bf57447406bcb19d9023688f6"},"schema_version":"1.0"},"canonical_sha256":"f211fb7ab647d77667a2477ab374c0648c341ea7dcb53adb209992966097e341","source":{"kind":"arxiv","id":"1908.06272","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.06272","created_at":"2026-07-05T00:38:33Z"},{"alias_kind":"arxiv_version","alias_value":"1908.06272v2","created_at":"2026-07-05T00:38:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.06272","created_at":"2026-07-05T00:38:33Z"},{"alias_kind":"pith_short_12","alias_value":"6II7W6VWI7LX","created_at":"2026-07-05T00:38:33Z"},{"alias_kind":"pith_short_16","alias_value":"6II7W6VWI7LXMZ5C","created_at":"2026-07-05T00:38:33Z"},{"alias_kind":"pith_short_8","alias_value":"6II7W6VW","created_at":"2026-07-05T00:38:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:6II7W6VWI7LXMZ5CI55LG5GAMS","target":"record","payload":{"canonical_record":{"source":{"id":"1908.06272","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-17T09:30:11Z","cross_cats_sorted":[],"title_canon_sha256":"afb72486e3e578390aa29fe1c4d7efc1307bf45fcb3b5ba775134e2b6fd8a732","abstract_canon_sha256":"4bad79e226ff10a7bda36358130cc4142ee6679bf57447406bcb19d9023688f6"},"schema_version":"1.0"},"canonical_sha256":"f211fb7ab647d77667a2477ab374c0648c341ea7dcb53adb209992966097e341","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:38:33.318986Z","signature_b64":"ZwjsKE7MoOpKCmJxe4iCAKJk6bSy3y9Rxljtq080T6B8juMhtaym/Sj/15ZiLa2+0yboYYAP5ucorAQT4IZDDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f211fb7ab647d77667a2477ab374c0648c341ea7dcb53adb209992966097e341","last_reissued_at":"2026-07-05T00:38:33.318495Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:38:33.318495Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1908.06272","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T00:38:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HQcHP77Rt5w3wP3FZligWfQp+/dfmiszqxIRsmIUB/H5J0A8WqOMMCnYCPuXdV2NimS47MMahTbMjpMSZlYpCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T14:20:59.881067Z"},"content_sha256":"b48447eee06332b6b121f740d36164a79e6a48a294464b6d941599c7faeb0435","schema_version":"1.0","event_id":"sha256:b48447eee06332b6b121f740d36164a79e6a48a294464b6d941599c7faeb0435"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:6II7W6VWI7LXMZ5CI55LG5GAMS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Contact Skill Imitation Learning for Robot-Independent Assembly Programming","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Arne Roennau, R\\\"udiger Dillmann, Stefan Scherzinger","submitted_at":"2019-08-17T09:30:11Z","abstract_excerpt":"Robotic automation is a key driver for the advancement of technology. The skills of human workers, however, are difficult to program and seem currently unmatched by technical systems. In this work we present a data-driven approach to extract and learn robot-independent contact skills from human demonstrations in simulation environments, using a Long Short Term Memory (LSTM) network. Our model learns to generate error-correcting sequences of forces and torques in task space from object-relative motion, which industrial robots carry out through a Cartesian force control scheme on the real setup."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.06272","kind":"arxiv","version":2},"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/1908.06272/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":"2026-07-05T00:38:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kxiyRp9YpptQAufY1yppfL4xEPRiZ14H7bWgidsM4aw1A/hPwpdOS6NXBK2PLhOBzMJQkYLvlX0SXVuxMvxaDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T14:20:59.881592Z"},"content_sha256":"e9c6e2888c720419fbe594bd4d7af26b297063c06809a655fbbf7bd6ba4386a1","schema_version":"1.0","event_id":"sha256:e9c6e2888c720419fbe594bd4d7af26b297063c06809a655fbbf7bd6ba4386a1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6II7W6VWI7LXMZ5CI55LG5GAMS/bundle.json","state_url":"https://pith.science/pith/6II7W6VWI7LXMZ5CI55LG5GAMS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6II7W6VWI7LXMZ5CI55LG5GAMS/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":"2026-08-04T14:20:59Z","links":{"resolver":"https://pith.science/pith/6II7W6VWI7LXMZ5CI55LG5GAMS","bundle":"https://pith.science/pith/6II7W6VWI7LXMZ5CI55LG5GAMS/bundle.json","state":"https://pith.science/pith/6II7W6VWI7LXMZ5CI55LG5GAMS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6II7W6VWI7LXMZ5CI55LG5GAMS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:6II7W6VWI7LXMZ5CI55LG5GAMS","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":"4bad79e226ff10a7bda36358130cc4142ee6679bf57447406bcb19d9023688f6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-17T09:30:11Z","title_canon_sha256":"afb72486e3e578390aa29fe1c4d7efc1307bf45fcb3b5ba775134e2b6fd8a732"},"schema_version":"1.0","source":{"id":"1908.06272","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.06272","created_at":"2026-07-05T00:38:33Z"},{"alias_kind":"arxiv_version","alias_value":"1908.06272v2","created_at":"2026-07-05T00:38:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.06272","created_at":"2026-07-05T00:38:33Z"},{"alias_kind":"pith_short_12","alias_value":"6II7W6VWI7LX","created_at":"2026-07-05T00:38:33Z"},{"alias_kind":"pith_short_16","alias_value":"6II7W6VWI7LXMZ5C","created_at":"2026-07-05T00:38:33Z"},{"alias_kind":"pith_short_8","alias_value":"6II7W6VW","created_at":"2026-07-05T00:38:33Z"}],"graph_snapshots":[{"event_id":"sha256:e9c6e2888c720419fbe594bd4d7af26b297063c06809a655fbbf7bd6ba4386a1","target":"graph","created_at":"2026-07-05T00:38:33Z","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/1908.06272/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robotic automation is a key driver for the advancement of technology. The skills of human workers, however, are difficult to program and seem currently unmatched by technical systems. In this work we present a data-driven approach to extract and learn robot-independent contact skills from human demonstrations in simulation environments, using a Long Short Term Memory (LSTM) network. Our model learns to generate error-correcting sequences of forces and torques in task space from object-relative motion, which industrial robots carry out through a Cartesian force control scheme on the real setup.","authors_text":"Arne Roennau, R\\\"udiger Dillmann, Stefan Scherzinger","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-17T09:30:11Z","title":"Contact Skill Imitation Learning for Robot-Independent Assembly Programming"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.06272","kind":"arxiv","version":2},"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:b48447eee06332b6b121f740d36164a79e6a48a294464b6d941599c7faeb0435","target":"record","created_at":"2026-07-05T00:38:33Z","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":"4bad79e226ff10a7bda36358130cc4142ee6679bf57447406bcb19d9023688f6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-17T09:30:11Z","title_canon_sha256":"afb72486e3e578390aa29fe1c4d7efc1307bf45fcb3b5ba775134e2b6fd8a732"},"schema_version":"1.0","source":{"id":"1908.06272","kind":"arxiv","version":2}},"canonical_sha256":"f211fb7ab647d77667a2477ab374c0648c341ea7dcb53adb209992966097e341","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f211fb7ab647d77667a2477ab374c0648c341ea7dcb53adb209992966097e341","first_computed_at":"2026-07-05T00:38:33.318495Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:38:33.318495Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ZwjsKE7MoOpKCmJxe4iCAKJk6bSy3y9Rxljtq080T6B8juMhtaym/Sj/15ZiLa2+0yboYYAP5ucorAQT4IZDDA==","signature_status":"signed_v1","signed_at":"2026-07-05T00:38:33.318986Z","signed_message":"canonical_sha256_bytes"},"source_id":"1908.06272","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b48447eee06332b6b121f740d36164a79e6a48a294464b6d941599c7faeb0435","sha256:e9c6e2888c720419fbe594bd4d7af26b297063c06809a655fbbf7bd6ba4386a1"],"state_sha256":"703f34834385659c026a538f908f0fc405b25b667f145846132203c32895554c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GwN0Q8CpWVv6Vs2DzMXGr1CCdTpyP0udTAN007t4y6yt7RtrWamwJAtUyyyyfG0r4v7bHuuOZwEbzQ6ZBjo8DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T14:20:59.948815Z","bundle_sha256":"0f8ca703b1071f9b3462b17d1b9683ba17f66a6710aa70e895c3a936d4675f9f"}}