{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:EFNKTZLNK6H2O7VPK57LMVREXB","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":"97cfa4e9d9eb75319e86283f094148e4d8c310f0b6a389da84c5abde7836e754","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-04T15:42:36Z","title_canon_sha256":"94bddcf7c18250b98fa95a0cedd9e01ebb589c6a5bdb40c8378e68f6659c53da"},"schema_version":"1.0","source":{"id":"2509.04324","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.04324","created_at":"2026-07-05T12:04:57Z"},{"alias_kind":"arxiv_version","alias_value":"2509.04324v1","created_at":"2026-07-05T12:04:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.04324","created_at":"2026-07-05T12:04:57Z"},{"alias_kind":"pith_short_12","alias_value":"EFNKTZLNK6H2","created_at":"2026-07-05T12:04:57Z"},{"alias_kind":"pith_short_16","alias_value":"EFNKTZLNK6H2O7VP","created_at":"2026-07-05T12:04:57Z"},{"alias_kind":"pith_short_8","alias_value":"EFNKTZLN","created_at":"2026-07-05T12:04:57Z"}],"graph_snapshots":[{"event_id":"sha256:2d247f685a226406457b560d5cd54e3d70e423538455aa0d366b0ef5ddda049b","target":"graph","created_at":"2026-07-05T12:04:57Z","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/2509.04324/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Grasping assistance is essential for restoring autonomy in individuals with motor impairments, particularly in unstructured environments where object categories and user intentions are diverse and unpredictable. We present OVGrasp, a hierarchical control framework for soft exoskeleton-based grasp assistance that integrates RGB-D vision, open-vocabulary prompts, and voice commands to enable robust multimodal interaction. To enhance generalization in open environments, OVGrasp incorporates a vision-language foundation model with an open-vocabulary mechanism, allowing zero-shot detection of previ","authors_text":"Chen Hu, Letizia Gionfrida, Shan Luo","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-04T15:42:36Z","title":"OVGrasp: Open-Vocabulary Grasping Assistance via Multimodal Intent Detection"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.04324","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:f1cc050fcfa3ad4b87493c807bf18fa1e247731c070dee82157905db45bc39e3","target":"record","created_at":"2026-07-05T12:04:57Z","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":"97cfa4e9d9eb75319e86283f094148e4d8c310f0b6a389da84c5abde7836e754","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-09-04T15:42:36Z","title_canon_sha256":"94bddcf7c18250b98fa95a0cedd9e01ebb589c6a5bdb40c8378e68f6659c53da"},"schema_version":"1.0","source":{"id":"2509.04324","kind":"arxiv","version":1}},"canonical_sha256":"215aa9e56d578fa77eaf577eb65624b86b04dc8c1aa5e1b11020aa793f53f0a9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"215aa9e56d578fa77eaf577eb65624b86b04dc8c1aa5e1b11020aa793f53f0a9","first_computed_at":"2026-07-05T12:04:57.341080Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:04:57.341080Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"pCIQ8HaH5tUv14Woc577/S2fuDkROhlWZMyluQN8n9dpUrwm6DFTUl70KMEX6jOS5Aua2nkGnh+BL2lBIJMgCA==","signature_status":"signed_v1","signed_at":"2026-07-05T12:04:57.341638Z","signed_message":"canonical_sha256_bytes"},"source_id":"2509.04324","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f1cc050fcfa3ad4b87493c807bf18fa1e247731c070dee82157905db45bc39e3","sha256:2d247f685a226406457b560d5cd54e3d70e423538455aa0d366b0ef5ddda049b"],"state_sha256":"403584910f7c7db75c5eb71e568c0af9e967c6d6d3c023410aa6ab4c14885f16"}