{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:E6WBDR6VMY2O6V5OGCAZVTRHYT","short_pith_number":"pith:E6WBDR6V","canonical_record":{"source":{"id":"1805.04051","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-10T16:32:26Z","cross_cats_sorted":["stat.ML"],"title_canon_sha256":"9ccef6b7755a5f0d7ec8431e63d697e5a6e07994d1a132ed478269562452c391","abstract_canon_sha256":"279f1af3c0a1c9a0e25efede5a170ff8319bd07813fa0ef0c1900df295602108"},"schema_version":"1.0"},"canonical_sha256":"27ac11c7d56634ef57ae30819ace27c4ef61a047f534adb010067f476b3decb0","source":{"kind":"arxiv","id":"1805.04051","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.04051","created_at":"2026-05-17T23:56:53Z"},{"alias_kind":"arxiv_version","alias_value":"1805.04051v3","created_at":"2026-05-17T23:56:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.04051","created_at":"2026-05-17T23:56:53Z"},{"alias_kind":"pith_short_12","alias_value":"E6WBDR6VMY2O","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_16","alias_value":"E6WBDR6VMY2O6V5O","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_8","alias_value":"E6WBDR6V","created_at":"2026-05-18T12:32:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:E6WBDR6VMY2O6V5OGCAZVTRHYT","target":"record","payload":{"canonical_record":{"source":{"id":"1805.04051","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-10T16:32:26Z","cross_cats_sorted":["stat.ML"],"title_canon_sha256":"9ccef6b7755a5f0d7ec8431e63d697e5a6e07994d1a132ed478269562452c391","abstract_canon_sha256":"279f1af3c0a1c9a0e25efede5a170ff8319bd07813fa0ef0c1900df295602108"},"schema_version":"1.0"},"canonical_sha256":"27ac11c7d56634ef57ae30819ace27c4ef61a047f534adb010067f476b3decb0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:56:53.397423Z","signature_b64":"cCPWed320MnSYoe1HPYPkRSAypxv7aegvmAVA6TokpL1NfI5K8LM0fz62WSA9xXxQSFDVSZGD9+tm4bQ27jmBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"27ac11c7d56634ef57ae30819ace27c4ef61a047f534adb010067f476b3decb0","last_reissued_at":"2026-05-17T23:56:53.396666Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:56:53.396666Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1805.04051","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:56:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OZXLh4yPTILtpFPGNfglZM1LkbqxjjYWIWFvNKw5uDY83pbXfiHOSr0BTDj6h0wUklZRI8ltS0JebSi7XK3eCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-03T12:30:44.675306Z"},"content_sha256":"506df36845d0b93710c2c7f88709eb6e2cc1c0b89866d7e0cac47f83894954ea","schema_version":"1.0","event_id":"sha256:506df36845d0b93710c2c7f88709eb6e2cc1c0b89866d7e0cac47f83894954ea"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:E6WBDR6VMY2O6V5OGCAZVTRHYT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Classification of Household Materials via Spectroscopy","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["stat.ML"],"primary_cat":"cs.RO","authors_text":"Charles C. Kemp, Nathan Luskey, Sonia Chernova, Zackory Erickson","submitted_at":"2018-05-10T16:32:26Z","abstract_excerpt":"Recognizing an object's material can inform a robot on the object's fragility or appropriate use. To estimate an object's material during manipulation, many prior works have explored the use of haptic sensing. In this paper, we explore a technique for robots to estimate the materials of objects using spectroscopy. We demonstrate that spectrometers provide several benefits for material recognition, including fast response times and accurate measurements with low noise. Furthermore, spectrometers do not require direct contact with an object. To explore this, we collected a dataset of spectral me"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.04051","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"2026-05-17T23:56:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rK2EBV8FHT39irTkvF1DFRrpU/cjNg9x4bfV5hZ+ix0ArVe5XdLL05w0DTw+a2Utu4cDUopgrkF5CbXPZZIJCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-03T12:30:44.675930Z"},"content_sha256":"80477242bfd46128c8fe137ece83b9237c28642b1fb2f2ac252e5e9b58f7b763","schema_version":"1.0","event_id":"sha256:80477242bfd46128c8fe137ece83b9237c28642b1fb2f2ac252e5e9b58f7b763"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/E6WBDR6VMY2O6V5OGCAZVTRHYT/bundle.json","state_url":"https://pith.science/pith/E6WBDR6VMY2O6V5OGCAZVTRHYT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/E6WBDR6VMY2O6V5OGCAZVTRHYT/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":"2026-06-03T12:30:44Z","links":{"resolver":"https://pith.science/pith/E6WBDR6VMY2O6V5OGCAZVTRHYT","bundle":"https://pith.science/pith/E6WBDR6VMY2O6V5OGCAZVTRHYT/bundle.json","state":"https://pith.science/pith/E6WBDR6VMY2O6V5OGCAZVTRHYT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/E6WBDR6VMY2O6V5OGCAZVTRHYT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:E6WBDR6VMY2O6V5OGCAZVTRHYT","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":"279f1af3c0a1c9a0e25efede5a170ff8319bd07813fa0ef0c1900df295602108","cross_cats_sorted":["stat.ML"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-10T16:32:26Z","title_canon_sha256":"9ccef6b7755a5f0d7ec8431e63d697e5a6e07994d1a132ed478269562452c391"},"schema_version":"1.0","source":{"id":"1805.04051","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.04051","created_at":"2026-05-17T23:56:53Z"},{"alias_kind":"arxiv_version","alias_value":"1805.04051v3","created_at":"2026-05-17T23:56:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.04051","created_at":"2026-05-17T23:56:53Z"},{"alias_kind":"pith_short_12","alias_value":"E6WBDR6VMY2O","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_16","alias_value":"E6WBDR6VMY2O6V5O","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_8","alias_value":"E6WBDR6V","created_at":"2026-05-18T12:32:19Z"}],"graph_snapshots":[{"event_id":"sha256:80477242bfd46128c8fe137ece83b9237c28642b1fb2f2ac252e5e9b58f7b763","target":"graph","created_at":"2026-05-17T23:56:53Z","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"},"paper":{"abstract_excerpt":"Recognizing an object's material can inform a robot on the object's fragility or appropriate use. To estimate an object's material during manipulation, many prior works have explored the use of haptic sensing. In this paper, we explore a technique for robots to estimate the materials of objects using spectroscopy. We demonstrate that spectrometers provide several benefits for material recognition, including fast response times and accurate measurements with low noise. Furthermore, spectrometers do not require direct contact with an object. To explore this, we collected a dataset of spectral me","authors_text":"Charles C. Kemp, Nathan Luskey, Sonia Chernova, Zackory Erickson","cross_cats":["stat.ML"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-10T16:32:26Z","title":"Classification of Household Materials via Spectroscopy"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.04051","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":"sha256:506df36845d0b93710c2c7f88709eb6e2cc1c0b89866d7e0cac47f83894954ea","target":"record","created_at":"2026-05-17T23:56:53Z","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":"279f1af3c0a1c9a0e25efede5a170ff8319bd07813fa0ef0c1900df295602108","cross_cats_sorted":["stat.ML"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-10T16:32:26Z","title_canon_sha256":"9ccef6b7755a5f0d7ec8431e63d697e5a6e07994d1a132ed478269562452c391"},"schema_version":"1.0","source":{"id":"1805.04051","kind":"arxiv","version":3}},"canonical_sha256":"27ac11c7d56634ef57ae30819ace27c4ef61a047f534adb010067f476b3decb0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"27ac11c7d56634ef57ae30819ace27c4ef61a047f534adb010067f476b3decb0","first_computed_at":"2026-05-17T23:56:53.396666Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:56:53.396666Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"cCPWed320MnSYoe1HPYPkRSAypxv7aegvmAVA6TokpL1NfI5K8LM0fz62WSA9xXxQSFDVSZGD9+tm4bQ27jmBQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:56:53.397423Z","signed_message":"canonical_sha256_bytes"},"source_id":"1805.04051","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:506df36845d0b93710c2c7f88709eb6e2cc1c0b89866d7e0cac47f83894954ea","sha256:80477242bfd46128c8fe137ece83b9237c28642b1fb2f2ac252e5e9b58f7b763"],"state_sha256":"e68dfc7628c30cdd63ad052b5ccae3ef9c9d44c1efca8fad1c752ab1275406e0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BxzjrTRTvjDecdf6H+ztd5kTLxvw9ujpAkGOte6eLkjaEuHNWwxhAGliuX3DxHuxc7Wbw6kwNw3CUeuierAeAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-03T12:30:44.679276Z","bundle_sha256":"8f12dd78e3b0bab55c3dd846f935b95e886912fe25ebe725f47f6d61632cd3f0"}}