{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:GCG2NX6LV6RSN4DHDRY2FLMLJI","short_pith_number":"pith:GCG2NX6L","canonical_record":{"source":{"id":"2508.02982","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-05T01:15:23Z","cross_cats_sorted":[],"title_canon_sha256":"2494130547acf61d4658a4edb78b557fcdaecb862e855306e6732efc69fb954b","abstract_canon_sha256":"dd7bf40b90d622f582ed68b835ccd1af03ee624e0381b23a7cce995f8d3dee6f"},"schema_version":"1.0"},"canonical_sha256":"308da6dfcbafa326f0671c71a2ad8b4a141cee8585d55f09278ae9d3bbc214a6","source":{"kind":"arxiv","id":"2508.02982","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.02982","created_at":"2026-07-05T11:48:34Z"},{"alias_kind":"arxiv_version","alias_value":"2508.02982v1","created_at":"2026-07-05T11:48:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.02982","created_at":"2026-07-05T11:48:34Z"},{"alias_kind":"pith_short_12","alias_value":"GCG2NX6LV6RS","created_at":"2026-07-05T11:48:34Z"},{"alias_kind":"pith_short_16","alias_value":"GCG2NX6LV6RSN4DH","created_at":"2026-07-05T11:48:34Z"},{"alias_kind":"pith_short_8","alias_value":"GCG2NX6L","created_at":"2026-07-05T11:48:34Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:GCG2NX6LV6RSN4DHDRY2FLMLJI","target":"record","payload":{"canonical_record":{"source":{"id":"2508.02982","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-05T01:15:23Z","cross_cats_sorted":[],"title_canon_sha256":"2494130547acf61d4658a4edb78b557fcdaecb862e855306e6732efc69fb954b","abstract_canon_sha256":"dd7bf40b90d622f582ed68b835ccd1af03ee624e0381b23a7cce995f8d3dee6f"},"schema_version":"1.0"},"canonical_sha256":"308da6dfcbafa326f0671c71a2ad8b4a141cee8585d55f09278ae9d3bbc214a6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:48:34.078237Z","signature_b64":"kxcIq5UqUoUhv00nBTrSNYW5Jt7MaHpTFtvoIEWcJf+R0Git6EEMaadxjd+EdDnWbYV8qhRt3Reux8R9eQPGCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"308da6dfcbafa326f0671c71a2ad8b4a141cee8585d55f09278ae9d3bbc214a6","last_reissued_at":"2026-07-05T11:48:34.077817Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:48:34.077817Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2508.02982","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":"2026-07-05T11:48:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uCUipPYrpBbLkx0SO18SPIFrL/kkbKk347GhWMUEKteAdibF+aH4m1QcmP5SYA+cFeV5uzAYktI9R+SPEUWfDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T15:30:54.125344Z"},"content_sha256":"e0116f36fe48c4497d2910506c3bc1feac42449f0abdfa6fb034c4e1e4f952d3","schema_version":"1.0","event_id":"sha256:e0116f36fe48c4497d2910506c3bc1feac42449f0abdfa6fb034c4e1e4f952d3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:GCG2NX6LV6RSN4DHDRY2FLMLJI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Multimodal Human-Intent Modeling for Contextual Robot-to-Human Handovers of Arbitrary Objects","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ahmed H. Qureshi, Guna Avula, Hanwen Ren, Lucas Chen, Zixing Wang","submitted_at":"2025-08-05T01:15:23Z","abstract_excerpt":"Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected target objects and do not contextualize human implicit and explicit preferences for handover, limiting natural and smooth interaction between humans and robots. These preferences can be related to the target object selection from the cluttered environment and to the way the robot should grasp the selected object to facilitate desirable human grasping during h"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.02982","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/2508.02982/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":"2026-07-05T11:48:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1FNgJe+deju89CTEYGlItSooihwF8O2g0JwgITZqsbhlIH+nfJ5Y6pcSwUMM+2fAI5KC+SprUX2a6eolxL3OAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T15:30:54.125914Z"},"content_sha256":"75c26557dea94c6157879564a609af6a8f2775dd36ab59afcf9cae8af08937b4","schema_version":"1.0","event_id":"sha256:75c26557dea94c6157879564a609af6a8f2775dd36ab59afcf9cae8af08937b4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GCG2NX6LV6RSN4DHDRY2FLMLJI/bundle.json","state_url":"https://pith.science/pith/GCG2NX6LV6RSN4DHDRY2FLMLJI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GCG2NX6LV6RSN4DHDRY2FLMLJI/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":"2026-08-06T15:30:54Z","links":{"resolver":"https://pith.science/pith/GCG2NX6LV6RSN4DHDRY2FLMLJI","bundle":"https://pith.science/pith/GCG2NX6LV6RSN4DHDRY2FLMLJI/bundle.json","state":"https://pith.science/pith/GCG2NX6LV6RSN4DHDRY2FLMLJI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GCG2NX6LV6RSN4DHDRY2FLMLJI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:GCG2NX6LV6RSN4DHDRY2FLMLJI","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":"dd7bf40b90d622f582ed68b835ccd1af03ee624e0381b23a7cce995f8d3dee6f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-05T01:15:23Z","title_canon_sha256":"2494130547acf61d4658a4edb78b557fcdaecb862e855306e6732efc69fb954b"},"schema_version":"1.0","source":{"id":"2508.02982","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.02982","created_at":"2026-07-05T11:48:34Z"},{"alias_kind":"arxiv_version","alias_value":"2508.02982v1","created_at":"2026-07-05T11:48:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.02982","created_at":"2026-07-05T11:48:34Z"},{"alias_kind":"pith_short_12","alias_value":"GCG2NX6LV6RS","created_at":"2026-07-05T11:48:34Z"},{"alias_kind":"pith_short_16","alias_value":"GCG2NX6LV6RSN4DH","created_at":"2026-07-05T11:48:34Z"},{"alias_kind":"pith_short_8","alias_value":"GCG2NX6L","created_at":"2026-07-05T11:48:34Z"}],"graph_snapshots":[{"event_id":"sha256:75c26557dea94c6157879564a609af6a8f2775dd36ab59afcf9cae8af08937b4","target":"graph","created_at":"2026-07-05T11:48:34Z","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/2508.02982/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected target objects and do not contextualize human implicit and explicit preferences for handover, limiting natural and smooth interaction between humans and robots. These preferences can be related to the target object selection from the cluttered environment and to the way the robot should grasp the selected object to facilitate desirable human grasping during h","authors_text":"Ahmed H. Qureshi, Guna Avula, Hanwen Ren, Lucas Chen, Zixing Wang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-05T01:15:23Z","title":"Multimodal Human-Intent Modeling for Contextual Robot-to-Human Handovers of Arbitrary Objects"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.02982","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:e0116f36fe48c4497d2910506c3bc1feac42449f0abdfa6fb034c4e1e4f952d3","target":"record","created_at":"2026-07-05T11:48:34Z","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":"dd7bf40b90d622f582ed68b835ccd1af03ee624e0381b23a7cce995f8d3dee6f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-05T01:15:23Z","title_canon_sha256":"2494130547acf61d4658a4edb78b557fcdaecb862e855306e6732efc69fb954b"},"schema_version":"1.0","source":{"id":"2508.02982","kind":"arxiv","version":1}},"canonical_sha256":"308da6dfcbafa326f0671c71a2ad8b4a141cee8585d55f09278ae9d3bbc214a6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"308da6dfcbafa326f0671c71a2ad8b4a141cee8585d55f09278ae9d3bbc214a6","first_computed_at":"2026-07-05T11:48:34.077817Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:48:34.077817Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"kxcIq5UqUoUhv00nBTrSNYW5Jt7MaHpTFtvoIEWcJf+R0Git6EEMaadxjd+EdDnWbYV8qhRt3Reux8R9eQPGCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:48:34.078237Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.02982","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e0116f36fe48c4497d2910506c3bc1feac42449f0abdfa6fb034c4e1e4f952d3","sha256:75c26557dea94c6157879564a609af6a8f2775dd36ab59afcf9cae8af08937b4"],"state_sha256":"992e4c28a8a7258d36c873604f4d00de1647251a5f3d85e27214a04e64777cad"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"yXbdssZG+dlUsILidn0b/RxSHWWEuA6MVkJ0+nxloCrzrXFiVVHte4Vhlxb1JrV7GHtfU0p/SKU+fk68NYSNCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T15:30:54.134592Z","bundle_sha256":"c8d2d8c7934a36d4f1297e1225ca01a9b98e25e182be980051cd1a2dde72d8ac"}}