{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:BU747NR4UOK3LHRNW6KDPVXD5V","short_pith_number":"pith:BU747NR4","canonical_record":{"source":{"id":"2312.15071","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-12-22T21:18:02Z","cross_cats_sorted":["cs.HC"],"title_canon_sha256":"a9ec7fcf45b73183f68518260f12a18308ebe0248dd2c65d0da2a3686e2a50cf","abstract_canon_sha256":"e18cc872e5313572169745d92b005f7fe75c362a02c173048c3c262257b7641d"},"schema_version":"1.0"},"canonical_sha256":"0d3fcfb63ca395b59e2db79437d6e3ed6a544acfa60b5ee8ebf953e6aacb590e","source":{"kind":"arxiv","id":"2312.15071","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2312.15071","created_at":"2026-07-05T07:29:30Z"},{"alias_kind":"arxiv_version","alias_value":"2312.15071v2","created_at":"2026-07-05T07:29:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.15071","created_at":"2026-07-05T07:29:30Z"},{"alias_kind":"pith_short_12","alias_value":"BU747NR4UOK3","created_at":"2026-07-05T07:29:30Z"},{"alias_kind":"pith_short_16","alias_value":"BU747NR4UOK3LHRN","created_at":"2026-07-05T07:29:30Z"},{"alias_kind":"pith_short_8","alias_value":"BU747NR4","created_at":"2026-07-05T07:29:30Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:BU747NR4UOK3LHRNW6KDPVXD5V","target":"record","payload":{"canonical_record":{"source":{"id":"2312.15071","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-12-22T21:18:02Z","cross_cats_sorted":["cs.HC"],"title_canon_sha256":"a9ec7fcf45b73183f68518260f12a18308ebe0248dd2c65d0da2a3686e2a50cf","abstract_canon_sha256":"e18cc872e5313572169745d92b005f7fe75c362a02c173048c3c262257b7641d"},"schema_version":"1.0"},"canonical_sha256":"0d3fcfb63ca395b59e2db79437d6e3ed6a544acfa60b5ee8ebf953e6aacb590e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:29:30.018110Z","signature_b64":"FDQDL2SRcUweSAaWT0i9DthG0kYDXoe9zVuX8p3elq7JlOCoDFcZMNy5GHadrKZ370Sjtz5+eKIACc1lqZLSBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0d3fcfb63ca395b59e2db79437d6e3ed6a544acfa60b5ee8ebf953e6aacb590e","last_reissued_at":"2026-07-05T07:29:30.017688Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:29:30.017688Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2312.15071","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":"2026-07-05T07:29:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xew0kqFpc1AscpP6b5vVY6IVwijrlXIRn0aeh/O1QEZVyxZW3GYAPsSGguzTT+2z1nRt9u7R0Uhbdx6c2uZMCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T18:18:39.380188Z"},"content_sha256":"b887eded44cb799d63f500ccdc5e6f89f319d5a9a1afa0a1d1e47f6e5460d89c","schema_version":"1.0","event_id":"sha256:b887eded44cb799d63f500ccdc5e6f89f319d5a9a1afa0a1d1e47f6e5460d89c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:BU747NR4UOK3LHRNW6KDPVXD5V","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Independence in the Home: A Wearable Interface for a Person with Quadriplegia to Teleoperate a Mobile Manipulator","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.HC"],"primary_cat":"cs.RO","authors_text":"Akhil Padmanabha, Carmel Majidi, Chen Chen, Douglas J. Weber, Janavi Gupta, Jehan Yang, Vy Nguyen, Zackory Erickson","submitted_at":"2023-12-22T21:18:02Z","abstract_excerpt":"Teleoperation of mobile manipulators within a home environment can significantly enhance the independence of individuals with severe motor impairments, allowing them to regain the ability to perform self-care and household tasks. There is a critical need for novel teleoperation interfaces to offer effective alternatives for individuals with impairments who may encounter challenges in using existing interfaces due to physical limitations. In this work, we iterate on one such interface, HAT (Head-Worn Assistive Teleoperation), an inertial-based wearable integrated into any head-worn garment. We "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.15071","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/2312.15071/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":"2026-07-05T07:29:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HFCx9XHv0blC7GWxGjEj1qOovJ1QCjg9hE/qRlmtTS9tS2sUN/XGDBZ5bK0fLN7bBY26mk0IilHAtOW3QnhxAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T18:18:39.380525Z"},"content_sha256":"34051cf4d264d527c8e4c252366737bc595e5c0bb203b12623033179fcc7fd64","schema_version":"1.0","event_id":"sha256:34051cf4d264d527c8e4c252366737bc595e5c0bb203b12623033179fcc7fd64"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BU747NR4UOK3LHRNW6KDPVXD5V/bundle.json","state_url":"https://pith.science/pith/BU747NR4UOK3LHRNW6KDPVXD5V/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BU747NR4UOK3LHRNW6KDPVXD5V/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":"2026-08-23T18:18:39Z","links":{"resolver":"https://pith.science/pith/BU747NR4UOK3LHRNW6KDPVXD5V","bundle":"https://pith.science/pith/BU747NR4UOK3LHRNW6KDPVXD5V/bundle.json","state":"https://pith.science/pith/BU747NR4UOK3LHRNW6KDPVXD5V/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BU747NR4UOK3LHRNW6KDPVXD5V/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:BU747NR4UOK3LHRNW6KDPVXD5V","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":"e18cc872e5313572169745d92b005f7fe75c362a02c173048c3c262257b7641d","cross_cats_sorted":["cs.HC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-12-22T21:18:02Z","title_canon_sha256":"a9ec7fcf45b73183f68518260f12a18308ebe0248dd2c65d0da2a3686e2a50cf"},"schema_version":"1.0","source":{"id":"2312.15071","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2312.15071","created_at":"2026-07-05T07:29:30Z"},{"alias_kind":"arxiv_version","alias_value":"2312.15071v2","created_at":"2026-07-05T07:29:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.15071","created_at":"2026-07-05T07:29:30Z"},{"alias_kind":"pith_short_12","alias_value":"BU747NR4UOK3","created_at":"2026-07-05T07:29:30Z"},{"alias_kind":"pith_short_16","alias_value":"BU747NR4UOK3LHRN","created_at":"2026-07-05T07:29:30Z"},{"alias_kind":"pith_short_8","alias_value":"BU747NR4","created_at":"2026-07-05T07:29:30Z"}],"graph_snapshots":[{"event_id":"sha256:34051cf4d264d527c8e4c252366737bc595e5c0bb203b12623033179fcc7fd64","target":"graph","created_at":"2026-07-05T07:29:30Z","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/2312.15071/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Teleoperation of mobile manipulators within a home environment can significantly enhance the independence of individuals with severe motor impairments, allowing them to regain the ability to perform self-care and household tasks. There is a critical need for novel teleoperation interfaces to offer effective alternatives for individuals with impairments who may encounter challenges in using existing interfaces due to physical limitations. In this work, we iterate on one such interface, HAT (Head-Worn Assistive Teleoperation), an inertial-based wearable integrated into any head-worn garment. We ","authors_text":"Akhil Padmanabha, Carmel Majidi, Chen Chen, Douglas J. Weber, Janavi Gupta, Jehan Yang, Vy Nguyen, Zackory Erickson","cross_cats":["cs.HC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-12-22T21:18:02Z","title":"Independence in the Home: A Wearable Interface for a Person with Quadriplegia to Teleoperate a Mobile Manipulator"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.15071","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:b887eded44cb799d63f500ccdc5e6f89f319d5a9a1afa0a1d1e47f6e5460d89c","target":"record","created_at":"2026-07-05T07:29:30Z","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":"e18cc872e5313572169745d92b005f7fe75c362a02c173048c3c262257b7641d","cross_cats_sorted":["cs.HC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-12-22T21:18:02Z","title_canon_sha256":"a9ec7fcf45b73183f68518260f12a18308ebe0248dd2c65d0da2a3686e2a50cf"},"schema_version":"1.0","source":{"id":"2312.15071","kind":"arxiv","version":2}},"canonical_sha256":"0d3fcfb63ca395b59e2db79437d6e3ed6a544acfa60b5ee8ebf953e6aacb590e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0d3fcfb63ca395b59e2db79437d6e3ed6a544acfa60b5ee8ebf953e6aacb590e","first_computed_at":"2026-07-05T07:29:30.017688Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:29:30.017688Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FDQDL2SRcUweSAaWT0i9DthG0kYDXoe9zVuX8p3elq7JlOCoDFcZMNy5GHadrKZ370Sjtz5+eKIACc1lqZLSBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T07:29:30.018110Z","signed_message":"canonical_sha256_bytes"},"source_id":"2312.15071","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b887eded44cb799d63f500ccdc5e6f89f319d5a9a1afa0a1d1e47f6e5460d89c","sha256:34051cf4d264d527c8e4c252366737bc595e5c0bb203b12623033179fcc7fd64"],"state_sha256":"b8cb83920edd19fd004c71c806181f082eec8ecb3aee0fc61ea12c7615982372"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qQ/GSQdAW+5I1Bou0eCT/NG8eqBI6CSocz/DvAUwnnTqb3lva5fy2omrMEe2+l5iwO9EdxKY+ZogJ83lzDb2Bg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-23T18:18:39.383680Z","bundle_sha256":"9650423d1d5b864828c930413b64eeb97b35b9a079179e751d6e2561aa004bf3"}}