{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:74WRTWK2HTB2O6X5OS3FCBX7UW","short_pith_number":"pith:74WRTWK2","canonical_record":{"source":{"id":"2606.25212","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T22:15:42Z","cross_cats_sorted":[],"title_canon_sha256":"5b2b9bff638eb8dc00090783101b44b4f27896525d85c9941baaf1496beab76c","abstract_canon_sha256":"e42814158c63384a4ae50f488e25d66657710c38ff237c0c0705e5098486e9ed"},"schema_version":"1.0"},"canonical_sha256":"ff2d19d95a3cc3a77afd74b65106ffa5a98e4e887a9a17038704ad67966b79a1","source":{"kind":"arxiv","id":"2606.25212","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.25212","created_at":"2026-06-25T00:18:21Z"},{"alias_kind":"arxiv_version","alias_value":"2606.25212v1","created_at":"2026-06-25T00:18:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.25212","created_at":"2026-06-25T00:18:21Z"},{"alias_kind":"pith_short_12","alias_value":"74WRTWK2HTB2","created_at":"2026-06-25T00:18:21Z"},{"alias_kind":"pith_short_16","alias_value":"74WRTWK2HTB2O6X5","created_at":"2026-06-25T00:18:21Z"},{"alias_kind":"pith_short_8","alias_value":"74WRTWK2","created_at":"2026-06-25T00:18:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:74WRTWK2HTB2O6X5OS3FCBX7UW","target":"record","payload":{"canonical_record":{"source":{"id":"2606.25212","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T22:15:42Z","cross_cats_sorted":[],"title_canon_sha256":"5b2b9bff638eb8dc00090783101b44b4f27896525d85c9941baaf1496beab76c","abstract_canon_sha256":"e42814158c63384a4ae50f488e25d66657710c38ff237c0c0705e5098486e9ed"},"schema_version":"1.0"},"canonical_sha256":"ff2d19d95a3cc3a77afd74b65106ffa5a98e4e887a9a17038704ad67966b79a1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-25T00:18:21.059788Z","signature_b64":"XmgAV2ME5zV4uhtQvG4LwmTV1SI3CcRTK7eABJF05LBd4U8vjuhuGBur0TKpcSIzAdORYfWE0vK6h45WUm7WDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ff2d19d95a3cc3a77afd74b65106ffa5a98e4e887a9a17038704ad67966b79a1","last_reissued_at":"2026-06-25T00:18:21.059413Z","signature_status":"signed_v1","first_computed_at":"2026-06-25T00:18:21.059413Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.25212","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":"2026-06-25T00:18:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"71mkh7J1Mn2XJg3ETaWMESiz1t4Nxf5sBOOfyA9xnuG1GeyPcmBTflax5mvUofmPTi2mff5wsqa4940dzFw/DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T06:55:09.952199Z"},"content_sha256":"f9870d7870fc4a71fada0d06ef999f8c666ae3b480ae471537ebb5a890091899","schema_version":"1.0","event_id":"sha256:f9870d7870fc4a71fada0d06ef999f8c666ae3b480ae471537ebb5a890091899"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:74WRTWK2HTB2O6X5OS3FCBX7UW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"RigPI: Dynamic Parameter Identification of Rigid Body via VLM-Seeded Differentiable Simulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Rongrong Zhang, Wei Jiang, Wenqiang Xu, Xincheng He","submitted_at":"2026-06-23T22:15:42Z","abstract_excerpt":"Accurate physical parameter identification of manipulated objects is fundamental to advanced robotic manipulation and the construction of faithful digital twins. However, acquiring physically consistent inertial and frictional properties from real-world interactions remains challenging due to sensing noise, modeling errors, and limited prior knowledge. This paper presents \\textbf{RigPI}, a systematic framework for identifying dynamic parameters of both unconstrained rigid bodies and multi-link rigid bodies during robot-object interaction. RigPI integrates vision-based semantic priors, force-to"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.25212","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/2606.25212/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":"2026-06-25T00:18:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ap5zONBMDyaqK3CHvr/xuY8Awc1VjU9CKMNDruixobtg6U48UNDNPPQccPOq/jBzpiZtMeX6XjVPHZTg0OsrBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T06:55:09.952583Z"},"content_sha256":"3d4f13565f3addce99ab828e35eaa509db1e12325bb25e03da999402ed502461","schema_version":"1.0","event_id":"sha256:3d4f13565f3addce99ab828e35eaa509db1e12325bb25e03da999402ed502461"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/74WRTWK2HTB2O6X5OS3FCBX7UW/bundle.json","state_url":"https://pith.science/pith/74WRTWK2HTB2O6X5OS3FCBX7UW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/74WRTWK2HTB2O6X5OS3FCBX7UW/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":"2026-07-05T06:55:09Z","links":{"resolver":"https://pith.science/pith/74WRTWK2HTB2O6X5OS3FCBX7UW","bundle":"https://pith.science/pith/74WRTWK2HTB2O6X5OS3FCBX7UW/bundle.json","state":"https://pith.science/pith/74WRTWK2HTB2O6X5OS3FCBX7UW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/74WRTWK2HTB2O6X5OS3FCBX7UW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:74WRTWK2HTB2O6X5OS3FCBX7UW","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":"e42814158c63384a4ae50f488e25d66657710c38ff237c0c0705e5098486e9ed","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T22:15:42Z","title_canon_sha256":"5b2b9bff638eb8dc00090783101b44b4f27896525d85c9941baaf1496beab76c"},"schema_version":"1.0","source":{"id":"2606.25212","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.25212","created_at":"2026-06-25T00:18:21Z"},{"alias_kind":"arxiv_version","alias_value":"2606.25212v1","created_at":"2026-06-25T00:18:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.25212","created_at":"2026-06-25T00:18:21Z"},{"alias_kind":"pith_short_12","alias_value":"74WRTWK2HTB2","created_at":"2026-06-25T00:18:21Z"},{"alias_kind":"pith_short_16","alias_value":"74WRTWK2HTB2O6X5","created_at":"2026-06-25T00:18:21Z"},{"alias_kind":"pith_short_8","alias_value":"74WRTWK2","created_at":"2026-06-25T00:18:21Z"}],"graph_snapshots":[{"event_id":"sha256:3d4f13565f3addce99ab828e35eaa509db1e12325bb25e03da999402ed502461","target":"graph","created_at":"2026-06-25T00:18:21Z","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/2606.25212/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Accurate physical parameter identification of manipulated objects is fundamental to advanced robotic manipulation and the construction of faithful digital twins. However, acquiring physically consistent inertial and frictional properties from real-world interactions remains challenging due to sensing noise, modeling errors, and limited prior knowledge. This paper presents \\textbf{RigPI}, a systematic framework for identifying dynamic parameters of both unconstrained rigid bodies and multi-link rigid bodies during robot-object interaction. RigPI integrates vision-based semantic priors, force-to","authors_text":"Rongrong Zhang, Wei Jiang, Wenqiang Xu, Xincheng He","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T22:15:42Z","title":"RigPI: Dynamic Parameter Identification of Rigid Body via VLM-Seeded Differentiable Simulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.25212","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:f9870d7870fc4a71fada0d06ef999f8c666ae3b480ae471537ebb5a890091899","target":"record","created_at":"2026-06-25T00:18:21Z","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":"e42814158c63384a4ae50f488e25d66657710c38ff237c0c0705e5098486e9ed","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T22:15:42Z","title_canon_sha256":"5b2b9bff638eb8dc00090783101b44b4f27896525d85c9941baaf1496beab76c"},"schema_version":"1.0","source":{"id":"2606.25212","kind":"arxiv","version":1}},"canonical_sha256":"ff2d19d95a3cc3a77afd74b65106ffa5a98e4e887a9a17038704ad67966b79a1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ff2d19d95a3cc3a77afd74b65106ffa5a98e4e887a9a17038704ad67966b79a1","first_computed_at":"2026-06-25T00:18:21.059413Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-25T00:18:21.059413Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"XmgAV2ME5zV4uhtQvG4LwmTV1SI3CcRTK7eABJF05LBd4U8vjuhuGBur0TKpcSIzAdORYfWE0vK6h45WUm7WDQ==","signature_status":"signed_v1","signed_at":"2026-06-25T00:18:21.059788Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.25212","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f9870d7870fc4a71fada0d06ef999f8c666ae3b480ae471537ebb5a890091899","sha256:3d4f13565f3addce99ab828e35eaa509db1e12325bb25e03da999402ed502461"],"state_sha256":"dce88f1d1807496f5ba6b133f3e0b2067d1f9b7975cb96f403b219cee53d822b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/5QZNmpGT1gByPCoEFeF2/e1oaxVZIMfbtMrmiPhKwjRTADwWa7HG5j+rs/w+2XPRZJIHSkA0kxUHrZY9DgyDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-05T06:55:09.954543Z","bundle_sha256":"e692c5ccb5fa5ff0adacc7902e8c8164df558507116ed8d21b339ba891c3d3c2"}}