{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:FF7C5X4O2TBZ6MOPAYROJH32QK","short_pith_number":"pith:FF7C5X4O","canonical_record":{"source":{"id":"2606.26603","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-25T05:06:38Z","cross_cats_sorted":[],"title_canon_sha256":"86e32cfae3b82d2f50571962dcde9bc9a3e1344bf3d4f318c912b0f8bf3f2490","abstract_canon_sha256":"e463dc6f15fb44add526829205ab566fba52efa694272aeec2880c7c290cb093"},"schema_version":"1.0"},"canonical_sha256":"297e2edf8ed4c39f31cf0622e49f7a82b1d23abba06ba191ab3af9bcd424de93","source":{"kind":"arxiv","id":"2606.26603","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.26603","created_at":"2026-06-26T01:15:35Z"},{"alias_kind":"arxiv_version","alias_value":"2606.26603v1","created_at":"2026-06-26T01:15:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.26603","created_at":"2026-06-26T01:15:35Z"},{"alias_kind":"pith_short_12","alias_value":"FF7C5X4O2TBZ","created_at":"2026-06-26T01:15:35Z"},{"alias_kind":"pith_short_16","alias_value":"FF7C5X4O2TBZ6MOP","created_at":"2026-06-26T01:15:35Z"},{"alias_kind":"pith_short_8","alias_value":"FF7C5X4O","created_at":"2026-06-26T01:15:35Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:FF7C5X4O2TBZ6MOPAYROJH32QK","target":"record","payload":{"canonical_record":{"source":{"id":"2606.26603","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-25T05:06:38Z","cross_cats_sorted":[],"title_canon_sha256":"86e32cfae3b82d2f50571962dcde9bc9a3e1344bf3d4f318c912b0f8bf3f2490","abstract_canon_sha256":"e463dc6f15fb44add526829205ab566fba52efa694272aeec2880c7c290cb093"},"schema_version":"1.0"},"canonical_sha256":"297e2edf8ed4c39f31cf0622e49f7a82b1d23abba06ba191ab3af9bcd424de93","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-26T01:15:35.990413Z","signature_b64":"8qK2cbYaH7ar29ljWeohxCAiqgxV/sychyAjR/YKcBqHUQVgBICssoZtoEBxGCpcFO09xVwQeUG/nQo6OW3uDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"297e2edf8ed4c39f31cf0622e49f7a82b1d23abba06ba191ab3af9bcd424de93","last_reissued_at":"2026-06-26T01:15:35.989988Z","signature_status":"signed_v1","first_computed_at":"2026-06-26T01:15:35.989988Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.26603","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-26T01:15:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qH/SaE53hb2tHVH+OGOOOrU6ffIzfXgT7V3tS8RdXjWNWGDonfh6N2nvxbHJ+GpLUksYMxt+N3yn30R4LzPaDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-01T16:52:08.461380Z"},"content_sha256":"723e040af8313479c417bc1e63d57a88e87635fa170c6f864477bce66d79a935","schema_version":"1.0","event_id":"sha256:723e040af8313479c417bc1e63d57a88e87635fa170c6f864477bce66d79a935"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:FF7C5X4O2TBZ6MOPAYROJH32QK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Bridging Handheld and Teleoperated Supervision for Contact-Rich Manipulation via State-Gated Experts","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"David Watkins, Neehar Peri, Vidullan Surendran","submitted_at":"2026-06-25T05:06:38Z","abstract_excerpt":"Handheld data collection systems, such as the Universal Manipulation Interface (UMI), enable scalable data collection across diverse environments but only capture observed actions rather than the desired actions executed by a robot controller. In contrast, teleoperation captures desired actions directly, but is prohibitively time-consuming to collect. We revisit this trade-off through the lens of action validity across task phases. We observe that handheld trajectories provide valid supervision in tolerant, free-space phases, but lack dynamic feasibility in contact-sensitive phases, where trac"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.26603","kind":"arxiv","version":1},"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/2606.26603/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":"2026-06-26T01:15:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZMcYHhFgPAYESw8eD5e3QAdoOgTFJ5sX5wGSjtokG8cTl/KYxFie6YZRubORtv9kqLVbKYCiIrIgnpU1a/bcDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-01T16:52:08.461797Z"},"content_sha256":"45706f8f23b0d208d919b70ef744d09f08b49733c81919c30e90039782125d3d","schema_version":"1.0","event_id":"sha256:45706f8f23b0d208d919b70ef744d09f08b49733c81919c30e90039782125d3d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FF7C5X4O2TBZ6MOPAYROJH32QK/bundle.json","state_url":"https://pith.science/pith/FF7C5X4O2TBZ6MOPAYROJH32QK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FF7C5X4O2TBZ6MOPAYROJH32QK/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":"2026-07-01T16:52:08Z","links":{"resolver":"https://pith.science/pith/FF7C5X4O2TBZ6MOPAYROJH32QK","bundle":"https://pith.science/pith/FF7C5X4O2TBZ6MOPAYROJH32QK/bundle.json","state":"https://pith.science/pith/FF7C5X4O2TBZ6MOPAYROJH32QK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FF7C5X4O2TBZ6MOPAYROJH32QK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:FF7C5X4O2TBZ6MOPAYROJH32QK","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":"e463dc6f15fb44add526829205ab566fba52efa694272aeec2880c7c290cb093","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-25T05:06:38Z","title_canon_sha256":"86e32cfae3b82d2f50571962dcde9bc9a3e1344bf3d4f318c912b0f8bf3f2490"},"schema_version":"1.0","source":{"id":"2606.26603","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.26603","created_at":"2026-06-26T01:15:35Z"},{"alias_kind":"arxiv_version","alias_value":"2606.26603v1","created_at":"2026-06-26T01:15:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.26603","created_at":"2026-06-26T01:15:35Z"},{"alias_kind":"pith_short_12","alias_value":"FF7C5X4O2TBZ","created_at":"2026-06-26T01:15:35Z"},{"alias_kind":"pith_short_16","alias_value":"FF7C5X4O2TBZ6MOP","created_at":"2026-06-26T01:15:35Z"},{"alias_kind":"pith_short_8","alias_value":"FF7C5X4O","created_at":"2026-06-26T01:15:35Z"}],"graph_snapshots":[{"event_id":"sha256:45706f8f23b0d208d919b70ef744d09f08b49733c81919c30e90039782125d3d","target":"graph","created_at":"2026-06-26T01:15:35Z","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/2606.26603/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Handheld data collection systems, such as the Universal Manipulation Interface (UMI), enable scalable data collection across diverse environments but only capture observed actions rather than the desired actions executed by a robot controller. In contrast, teleoperation captures desired actions directly, but is prohibitively time-consuming to collect. We revisit this trade-off through the lens of action validity across task phases. We observe that handheld trajectories provide valid supervision in tolerant, free-space phases, but lack dynamic feasibility in contact-sensitive phases, where trac","authors_text":"David Watkins, Neehar Peri, Vidullan Surendran","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-25T05:06:38Z","title":"Bridging Handheld and Teleoperated Supervision for Contact-Rich Manipulation via State-Gated Experts"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.26603","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":"sha256:723e040af8313479c417bc1e63d57a88e87635fa170c6f864477bce66d79a935","target":"record","created_at":"2026-06-26T01:15:35Z","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":"e463dc6f15fb44add526829205ab566fba52efa694272aeec2880c7c290cb093","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-25T05:06:38Z","title_canon_sha256":"86e32cfae3b82d2f50571962dcde9bc9a3e1344bf3d4f318c912b0f8bf3f2490"},"schema_version":"1.0","source":{"id":"2606.26603","kind":"arxiv","version":1}},"canonical_sha256":"297e2edf8ed4c39f31cf0622e49f7a82b1d23abba06ba191ab3af9bcd424de93","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"297e2edf8ed4c39f31cf0622e49f7a82b1d23abba06ba191ab3af9bcd424de93","first_computed_at":"2026-06-26T01:15:35.989988Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-26T01:15:35.989988Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"8qK2cbYaH7ar29ljWeohxCAiqgxV/sychyAjR/YKcBqHUQVgBICssoZtoEBxGCpcFO09xVwQeUG/nQo6OW3uDA==","signature_status":"signed_v1","signed_at":"2026-06-26T01:15:35.990413Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.26603","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:723e040af8313479c417bc1e63d57a88e87635fa170c6f864477bce66d79a935","sha256:45706f8f23b0d208d919b70ef744d09f08b49733c81919c30e90039782125d3d"],"state_sha256":"9b47fcbb2b540a4033dccaa670c6fa205eea5074bab32c93fefb6e1939f28514"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"i8+eEWuyVtJgXng2O8ECFYpWg4wFq8OHMaVzSEMwyAAR9OMgkJecZV7AjoC4JVsaf3vevDFohqOw8sBzH7btAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-01T16:52:08.464095Z","bundle_sha256":"b783f03a010db474e603b1aba965a2e3ef4dc1c02cc38725b48460ff396c774e"}}