{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:CFMHCSOV5K44K5K6RON65GHFC4","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":"a174136ed336088f02062b492df5729316de93c1a9981472c1511aaf8b445340","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-10T00:19:50Z","title_canon_sha256":"854e190e11e3cbfd3da955dedf4a15ea4327b8e5ff698c6f0daa526d42bbcada"},"schema_version":"1.0","source":{"id":"2011.04840","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2011.04840","created_at":"2026-07-05T08:14:16Z"},{"alias_kind":"arxiv_version","alias_value":"2011.04840v3","created_at":"2026-07-05T08:14:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2011.04840","created_at":"2026-07-05T08:14:16Z"},{"alias_kind":"pith_short_12","alias_value":"CFMHCSOV5K44","created_at":"2026-07-05T08:14:16Z"},{"alias_kind":"pith_short_16","alias_value":"CFMHCSOV5K44K5K6","created_at":"2026-07-05T08:14:16Z"},{"alias_kind":"pith_short_8","alias_value":"CFMHCSOV","created_at":"2026-07-05T08:14:16Z"}],"graph_snapshots":[{"event_id":"sha256:86394fae1f46d4528d432b6bcebcaf16e89307e26555f75311d0b8b5b90390f3","target":"graph","created_at":"2026-07-05T08:14:16Z","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/2011.04840/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We explore how high-speed robot arm motions can dynamically manipulate cables to vault over obstacles, knock objects from pedestals, and weave between obstacles. In this paper, we propose a self-supervised learning framework that enables a UR5 robot to perform these three tasks. The framework finds a 3D apex point for the robot arm, which, together with a task-specific trajectory function, defines an arcing motion that dynamically manipulates the cable to perform tasks with varying obstacle and target locations. The trajectory function computes minimum-jerk motions that are constrained to rema","authors_text":"Daniel Seita, Harry Zhang, Huang Huang, Jeffrey Ichnowski, Jonathan Wang, Ken Goldberg","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-10T00:19:50Z","title":"Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2011.04840","kind":"arxiv","version":3},"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":"sha256:011ea67fab23b2438c1d0396ed15f9566c8a45f06ab5426d8df737878b71be2f","target":"record","created_at":"2026-07-05T08:14:16Z","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":"a174136ed336088f02062b492df5729316de93c1a9981472c1511aaf8b445340","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-10T00:19:50Z","title_canon_sha256":"854e190e11e3cbfd3da955dedf4a15ea4327b8e5ff698c6f0daa526d42bbcada"},"schema_version":"1.0","source":{"id":"2011.04840","kind":"arxiv","version":3}},"canonical_sha256":"11587149d5eab9c5755e8b9bee98e5171d3b4484a4f1c616226c585f9cbd4635","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"11587149d5eab9c5755e8b9bee98e5171d3b4484a4f1c616226c585f9cbd4635","first_computed_at":"2026-07-05T08:14:16.406934Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:14:16.406934Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GCrgjBxWSwDtwxJrx80tIbtunIpxbqHl8RwRIo2AOqjOz0nDDlC6M3BP0HZo4nA+S0wSZJfd2Doj+rp33oKhCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:14:16.407442Z","signed_message":"canonical_sha256_bytes"},"source_id":"2011.04840","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:011ea67fab23b2438c1d0396ed15f9566c8a45f06ab5426d8df737878b71be2f","sha256:86394fae1f46d4528d432b6bcebcaf16e89307e26555f75311d0b8b5b90390f3"],"state_sha256":"6096e977659f0d9fd81568bf492f1ceb350b307dc38f06cf85217b474b1f8f40"}