{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:6WLEZ2NNJGO2ZFAFI6THOIFM5A","short_pith_number":"pith:6WLEZ2NN","canonical_record":{"source":{"id":"2312.09190","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-12-14T18:11:34Z","cross_cats_sorted":[],"title_canon_sha256":"0cd81aaba6ee8b94094bffc8ac4627ea4d93824aefa7d7e7f380f1dad4c53b37","abstract_canon_sha256":"919c6566b1790a5f6901f6f2f3b2d98bffe0dbaddf8886ea8d8637cd82ae2ae2"},"schema_version":"1.0"},"canonical_sha256":"f5964ce9ad499dac940547a67720ace81ad9d05ec98c895d41f5bde34d0577ae","source":{"kind":"arxiv","id":"2312.09190","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2312.09190","created_at":"2026-07-05T07:24:15Z"},{"alias_kind":"arxiv_version","alias_value":"2312.09190v1","created_at":"2026-07-05T07:24:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.09190","created_at":"2026-07-05T07:24:15Z"},{"alias_kind":"pith_short_12","alias_value":"6WLEZ2NNJGO2","created_at":"2026-07-05T07:24:15Z"},{"alias_kind":"pith_short_16","alias_value":"6WLEZ2NNJGO2ZFAF","created_at":"2026-07-05T07:24:15Z"},{"alias_kind":"pith_short_8","alias_value":"6WLEZ2NN","created_at":"2026-07-05T07:24:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:6WLEZ2NNJGO2ZFAFI6THOIFM5A","target":"record","payload":{"canonical_record":{"source":{"id":"2312.09190","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-12-14T18:11:34Z","cross_cats_sorted":[],"title_canon_sha256":"0cd81aaba6ee8b94094bffc8ac4627ea4d93824aefa7d7e7f380f1dad4c53b37","abstract_canon_sha256":"919c6566b1790a5f6901f6f2f3b2d98bffe0dbaddf8886ea8d8637cd82ae2ae2"},"schema_version":"1.0"},"canonical_sha256":"f5964ce9ad499dac940547a67720ace81ad9d05ec98c895d41f5bde34d0577ae","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:24:15.905836Z","signature_b64":"aqD63MYmtVZzxqibxqWxPtyS/O5p6ltg4byT8l6Xt7VMTJc5OtxksThqaT9svGcltAsP1R87EDHWphu83W5VDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f5964ce9ad499dac940547a67720ace81ad9d05ec98c895d41f5bde34d0577ae","last_reissued_at":"2026-07-05T07:24:15.905421Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:24:15.905421Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2312.09190","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:24:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6fczdgFI2e90CdQiFILWHXVzL2CWKQsnIsgm8jzelEfZf+C+E5HMdzWRcfIHF46urR1ey4lbTVrify+fTOIECA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T08:00:06.865468Z"},"content_sha256":"bde773d32cbb8e19443d8a3d9c61b717117284d39c0e055031472cda30586f57","schema_version":"1.0","event_id":"sha256:bde773d32cbb8e19443d8a3d9c61b717117284d39c0e055031472cda30586f57"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:6WLEZ2NNJGO2ZFAFI6THOIFM5A","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Efficient Online Learning of Contact Force Models for Connector Insertion","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ajinkya Jain, Keegan Go, Kevin Tracy, Stefan Schaal, Tom Erez, Yuval Tassa, Zachary Manchester","submitted_at":"2023-12-14T18:11:34Z","abstract_excerpt":"Contact-rich manipulation tasks with stiff frictional elements like connector insertion are difficult to model with rigid-body simulators. In this work, we propose a new approach for modeling these environments by learning a quasi-static contact force model instead of a full simulator. Using a feature vector that contains information about the configuration and control, we find a linear mapping adequately captures the relationship between this feature vector and the sensed contact forces. A novel Linear Model Learning (LML) algorithm is used to solve for the globally optimal mapping in real ti"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.09190","kind":"arxiv","version":1},"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/2312.09190/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":"2026-07-05T07:24:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"j1nP6Axu1fpPTPG0Ndxg7Z+3n7IQGSOABT13Nf9f38dmErbfQGMLdM3h/nYKSsA66RR2kl0+r1CLu5fVhp07BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T08:00:06.865961Z"},"content_sha256":"82afabc2a161cba6195f700a10b1a21dd7aece9a75f378a104759a4a3e47d35d","schema_version":"1.0","event_id":"sha256:82afabc2a161cba6195f700a10b1a21dd7aece9a75f378a104759a4a3e47d35d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6WLEZ2NNJGO2ZFAFI6THOIFM5A/bundle.json","state_url":"https://pith.science/pith/6WLEZ2NNJGO2ZFAFI6THOIFM5A/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6WLEZ2NNJGO2ZFAFI6THOIFM5A/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":"2026-08-19T08:00:06Z","links":{"resolver":"https://pith.science/pith/6WLEZ2NNJGO2ZFAFI6THOIFM5A","bundle":"https://pith.science/pith/6WLEZ2NNJGO2ZFAFI6THOIFM5A/bundle.json","state":"https://pith.science/pith/6WLEZ2NNJGO2ZFAFI6THOIFM5A/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6WLEZ2NNJGO2ZFAFI6THOIFM5A/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:6WLEZ2NNJGO2ZFAFI6THOIFM5A","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":"919c6566b1790a5f6901f6f2f3b2d98bffe0dbaddf8886ea8d8637cd82ae2ae2","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-12-14T18:11:34Z","title_canon_sha256":"0cd81aaba6ee8b94094bffc8ac4627ea4d93824aefa7d7e7f380f1dad4c53b37"},"schema_version":"1.0","source":{"id":"2312.09190","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2312.09190","created_at":"2026-07-05T07:24:15Z"},{"alias_kind":"arxiv_version","alias_value":"2312.09190v1","created_at":"2026-07-05T07:24:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.09190","created_at":"2026-07-05T07:24:15Z"},{"alias_kind":"pith_short_12","alias_value":"6WLEZ2NNJGO2","created_at":"2026-07-05T07:24:15Z"},{"alias_kind":"pith_short_16","alias_value":"6WLEZ2NNJGO2ZFAF","created_at":"2026-07-05T07:24:15Z"},{"alias_kind":"pith_short_8","alias_value":"6WLEZ2NN","created_at":"2026-07-05T07:24:15Z"}],"graph_snapshots":[{"event_id":"sha256:82afabc2a161cba6195f700a10b1a21dd7aece9a75f378a104759a4a3e47d35d","target":"graph","created_at":"2026-07-05T07:24:15Z","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/2312.09190/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Contact-rich manipulation tasks with stiff frictional elements like connector insertion are difficult to model with rigid-body simulators. In this work, we propose a new approach for modeling these environments by learning a quasi-static contact force model instead of a full simulator. Using a feature vector that contains information about the configuration and control, we find a linear mapping adequately captures the relationship between this feature vector and the sensed contact forces. A novel Linear Model Learning (LML) algorithm is used to solve for the globally optimal mapping in real ti","authors_text":"Ajinkya Jain, Keegan Go, Kevin Tracy, Stefan Schaal, Tom Erez, Yuval Tassa, Zachary Manchester","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-12-14T18:11:34Z","title":"Efficient Online Learning of Contact Force Models for Connector Insertion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.09190","kind":"arxiv","version":1},"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:bde773d32cbb8e19443d8a3d9c61b717117284d39c0e055031472cda30586f57","target":"record","created_at":"2026-07-05T07:24:15Z","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":"919c6566b1790a5f6901f6f2f3b2d98bffe0dbaddf8886ea8d8637cd82ae2ae2","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-12-14T18:11:34Z","title_canon_sha256":"0cd81aaba6ee8b94094bffc8ac4627ea4d93824aefa7d7e7f380f1dad4c53b37"},"schema_version":"1.0","source":{"id":"2312.09190","kind":"arxiv","version":1}},"canonical_sha256":"f5964ce9ad499dac940547a67720ace81ad9d05ec98c895d41f5bde34d0577ae","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f5964ce9ad499dac940547a67720ace81ad9d05ec98c895d41f5bde34d0577ae","first_computed_at":"2026-07-05T07:24:15.905421Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:24:15.905421Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"aqD63MYmtVZzxqibxqWxPtyS/O5p6ltg4byT8l6Xt7VMTJc5OtxksThqaT9svGcltAsP1R87EDHWphu83W5VDw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:24:15.905836Z","signed_message":"canonical_sha256_bytes"},"source_id":"2312.09190","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bde773d32cbb8e19443d8a3d9c61b717117284d39c0e055031472cda30586f57","sha256:82afabc2a161cba6195f700a10b1a21dd7aece9a75f378a104759a4a3e47d35d"],"state_sha256":"6836d0a33d590877f6ac58dff602a6f03cceb37be744162ea8765b8a8b831dd5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"e6nKzKW5oiZtb6jgRyhgizQRJq2DH1o7JNDAH2bQlOPhaDHWAqGZ4pyNfrZycYKQCCHN7ufVA4v/j/olYEYTBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-19T08:00:06.870451Z","bundle_sha256":"d8290538a8535db34a2b3d7771d89aac97ac154b1a2936fc70e9b5a6e9c53d4f"}}