{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:7GKT4IOBEMYNA4M7KAFEOYH4MO","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":"b51d14e760628df8b381239cbd89615fc128eb7fd708d5e4e09f19f0e8754a6c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-08-06T22:39:25Z","title_canon_sha256":"e09245f3fe311259779f3d7543f9dfcf51b8a4d80c000e0547230d19dc4b2da7"},"schema_version":"1.0","source":{"id":"2308.03222","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2308.03222","created_at":"2026-07-05T06:38:13Z"},{"alias_kind":"arxiv_version","alias_value":"2308.03222v1","created_at":"2026-07-05T06:38:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2308.03222","created_at":"2026-07-05T06:38:13Z"},{"alias_kind":"pith_short_12","alias_value":"7GKT4IOBEMYN","created_at":"2026-07-05T06:38:13Z"},{"alias_kind":"pith_short_16","alias_value":"7GKT4IOBEMYNA4M7","created_at":"2026-07-05T06:38:13Z"},{"alias_kind":"pith_short_8","alias_value":"7GKT4IOB","created_at":"2026-07-05T06:38:13Z"}],"graph_snapshots":[{"event_id":"sha256:f340d3be4d01cc5c0a5ae64da10e83ebf8cb75f69c74e2ff5c8522aba4ce0acd","target":"graph","created_at":"2026-07-05T06:38:13Z","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/2308.03222/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Multiple levels of safety measures are required by multiple interaction modes which collaborative robots need to perform industrial tasks with human co-workers. We develop three independent modules to account for safety in different types of human-robot interaction: vision-based safety monitoring pauses robot when human is present in a shared space; contact-based safety monitoring pauses robot when unexpected contact happens between human and robot; hierarchical intention tracking keeps robot in a safe distance from human when human and robot work independently, and switches robot to compliant","authors_text":"D. Livingston McPherson, Haonan Chen, Haoyuan You, Katherine Driggs-Campbell, Ninghan Zhong, Xiang Li, Ye-Ji Mun, Yilong Niu, Yiqing Xie, Zhe Huang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-08-06T22:39:25Z","title":"Towards Safe Multi-Level Human-Robot Interaction in Industrial Tasks"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2308.03222","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":"sha256:66db160bf42efa0dc202b8db3b80b2a9811a48bc4f37cfa02e4fc683fb140d55","target":"record","created_at":"2026-07-05T06:38:13Z","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":"b51d14e760628df8b381239cbd89615fc128eb7fd708d5e4e09f19f0e8754a6c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-08-06T22:39:25Z","title_canon_sha256":"e09245f3fe311259779f3d7543f9dfcf51b8a4d80c000e0547230d19dc4b2da7"},"schema_version":"1.0","source":{"id":"2308.03222","kind":"arxiv","version":1}},"canonical_sha256":"f9953e21c12330d0719f500a4760fc639dfb16d65e576b3c7ef42ced56b80e7e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f9953e21c12330d0719f500a4760fc639dfb16d65e576b3c7ef42ced56b80e7e","first_computed_at":"2026-07-05T06:38:13.925650Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:38:13.925650Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"SFpDL8R4vovZgpiqJeX1oXv3beQ+64HUjDWWTANYSdVNfEpSQ/69EjaKy0IlXwZKEYs/Y5V9vAhNwIDGFhjYCw==","signature_status":"signed_v1","signed_at":"2026-07-05T06:38:13.926168Z","signed_message":"canonical_sha256_bytes"},"source_id":"2308.03222","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:66db160bf42efa0dc202b8db3b80b2a9811a48bc4f37cfa02e4fc683fb140d55","sha256:f340d3be4d01cc5c0a5ae64da10e83ebf8cb75f69c74e2ff5c8522aba4ce0acd"],"state_sha256":"19851c2877a1a35f6c38af7c562c5ea3751f8b8cd2b27633f6a4da654e6bbfcc"}