{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:HCXG4FAORRHHJS4WEZMFUUKWLW","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":"b5d0edac448500ca7011aec5d0b6c47c37a3c6f80591dbe1611c47cff1cdbf06","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-08-03T06:01:47Z","title_canon_sha256":"841aed203a7fd674ed6c579a85bc68a3ba44747456bdaab685c01b8aef6e1220"},"schema_version":"1.0","source":{"id":"2608.01736","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2608.01736","created_at":"2026-08-04T02:06:38Z"},{"alias_kind":"arxiv_version","alias_value":"2608.01736v1","created_at":"2026-08-04T02:06:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2608.01736","created_at":"2026-08-04T02:06:38Z"},{"alias_kind":"pith_short_12","alias_value":"HCXG4FAORRHH","created_at":"2026-08-04T02:06:38Z"},{"alias_kind":"pith_short_16","alias_value":"HCXG4FAORRHHJS4W","created_at":"2026-08-04T02:06:38Z"},{"alias_kind":"pith_short_8","alias_value":"HCXG4FAO","created_at":"2026-08-04T02:06:38Z"}],"graph_snapshots":[{"event_id":"sha256:1afa4886935ef88d154f65bd28d90050fa9c9e7c4e531cd5213406597a7dc661","target":"graph","created_at":"2026-08-04T02:06:38Z","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/2608.01736/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Maintaining a stable pose during physical interaction is a significant challenge for aerial robots, often limiting their use in contact-based tasks. This paper presents a novel uncrewed aerial vehicle (UAV) platform designed to transition from unconstrained flight to a stable, constrained work platform via environmental anchoring. Our system comprises: 1) a multirotor with a tilt-rotor mechanism that decouples pitch from forward motion, enabling stable hover at non-zero pitch angles, and 2) a novel underactuated, cable-driven, prismatic gripper featuring compliance to adapt to irregular geomet","authors_text":"Efe Camci, Guillaume Sartoretti, Joshua Taylor, Nursultan Imanberdiyev, Wei-Yun Yau","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-08-03T06:01:47Z","title":"A Tilt-Rotor UAV with a Gripper for Stable Contact-Based Tasks via Environmental Anchoring"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.01736","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":"sha256:47c485bbd28309871b9842aa7a13da59e9c65aadf9737db6e5ee6e70e6c2db4a","target":"record","created_at":"2026-08-04T02:06:38Z","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":"b5d0edac448500ca7011aec5d0b6c47c37a3c6f80591dbe1611c47cff1cdbf06","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-08-03T06:01:47Z","title_canon_sha256":"841aed203a7fd674ed6c579a85bc68a3ba44747456bdaab685c01b8aef6e1220"},"schema_version":"1.0","source":{"id":"2608.01736","kind":"arxiv","version":1}},"canonical_sha256":"38ae6e140e8c4e74cb9626585a51565dbade8cb2d4d942e0fd9a740567c5454f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"38ae6e140e8c4e74cb9626585a51565dbade8cb2d4d942e0fd9a740567c5454f","first_computed_at":"2026-08-04T02:06:38.862495Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-08-04T02:06:38.862495Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"k2ZKfVCtIEmdu8/MxzllfPBBdUX2ijeMtFpefYfqOClrNxJAvtsvZwT3ANCBxpxS5w+kr10uVW1gpTLnZuprCQ==","signature_status":"signed_v1","signed_at":"2026-08-04T02:06:38.864160Z","signed_message":"canonical_sha256_bytes"},"source_id":"2608.01736","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:47c485bbd28309871b9842aa7a13da59e9c65aadf9737db6e5ee6e70e6c2db4a","sha256:1afa4886935ef88d154f65bd28d90050fa9c9e7c4e531cd5213406597a7dc661"],"state_sha256":"4d7feae199ea44a6fb83bf3c2c4b96adf655c935ab3c36227a1171525e34ba3f"}