{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2023:HGE5KXL55FS6KLKWE463ZLSBXE","short_pith_number":"pith:HGE5KXL5","schema_version":"1.0","canonical_sha256":"3989d55d7de965e52d56273dbcae41b92e43a13c38c35d009ce5c01a620f171d","source":{"kind":"arxiv","id":"2309.14975","version":2},"attestation_state":"computed","paper":{"title":"AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wild","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cewu Lu, Hao-Shu Fang, Hongjie Fang, Jieji Ren, Jingjing Chen, Ruo Zhang, Weiming Wang, Yiming Wang","submitted_at":"2023-09-26T14:48:29Z","abstract_excerpt":"While humans can use parts of their arms other than the hands for manipulations like gathering and supporting, whether robots can effectively learn and perform the same type of operations remains relatively unexplored. As these manipulations require joint-level control to regulate the complete poses of the robots, we develop AirExo, a low-cost, adaptable, and portable dual-arm exoskeleton, for teleoperation and demonstration collection. As collecting teleoperated data is expensive and time-consuming, we further leverage AirExo to collect cheap in-the-wild demonstrations at scale. Under our in-"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2309.14975","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-26T14:48:29Z","cross_cats_sorted":[],"title_canon_sha256":"0fd78f24aa3b80fd217b2d957aa21054ca981401e8460ca340d997cb839a1248","abstract_canon_sha256":"8a7bf3e7b42fc1f005fbf0a4fc81e375ae2292d8f4dfb3d5bdb40b0f33b11b17"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:17:10.871451Z","signature_b64":"yFo7y/sr9Hn6YK98nyN4DFFV3S1cho0m4gCv7CZEygjlXZOpfhQEZf8Gog+/B9bJhTsec7793jNDEZcq5zMZAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3989d55d7de965e52d56273dbcae41b92e43a13c38c35d009ce5c01a620f171d","last_reissued_at":"2026-07-05T08:17:10.870989Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:17:10.870989Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wild","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cewu Lu, Hao-Shu Fang, Hongjie Fang, Jieji Ren, Jingjing Chen, Ruo Zhang, Weiming Wang, Yiming Wang","submitted_at":"2023-09-26T14:48:29Z","abstract_excerpt":"While humans can use parts of their arms other than the hands for manipulations like gathering and supporting, whether robots can effectively learn and perform the same type of operations remains relatively unexplored. As these manipulations require joint-level control to regulate the complete poses of the robots, we develop AirExo, a low-cost, adaptable, and portable dual-arm exoskeleton, for teleoperation and demonstration collection. As collecting teleoperated data is expensive and time-consuming, we further leverage AirExo to collect cheap in-the-wild demonstrations at scale. Under our in-"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.14975","kind":"arxiv","version":2},"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/2309.14975/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2309.14975","created_at":"2026-07-05T08:17:10.871051+00:00"},{"alias_kind":"arxiv_version","alias_value":"2309.14975v2","created_at":"2026-07-05T08:17:10.871051+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.14975","created_at":"2026-07-05T08:17:10.871051+00:00"},{"alias_kind":"pith_short_12","alias_value":"HGE5KXL55FS6","created_at":"2026-07-05T08:17:10.871051+00:00"},{"alias_kind":"pith_short_16","alias_value":"HGE5KXL55FS6KLKW","created_at":"2026-07-05T08:17:10.871051+00:00"},{"alias_kind":"pith_short_8","alias_value":"HGE5KXL5","created_at":"2026-07-05T08:17:10.871051+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":3,"internal_anchor_count":0,"sample":[{"citing_arxiv_id":"2507.05331","citing_title":"A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation","ref_index":54,"is_internal_anchor":false},{"citing_arxiv_id":"2401.02117","citing_title":"Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation","ref_index":32,"is_internal_anchor":false},{"citing_arxiv_id":"2402.10329","citing_title":"Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots","ref_index":14,"is_internal_anchor":false}]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/HGE5KXL55FS6KLKWE463ZLSBXE","json":"https://pith.science/pith/HGE5KXL55FS6KLKWE463ZLSBXE.json","graph_json":"https://pith.science/api/pith-number/HGE5KXL55FS6KLKWE463ZLSBXE/graph.json","events_json":"https://pith.science/api/pith-number/HGE5KXL55FS6KLKWE463ZLSBXE/events.json","paper":"https://pith.science/paper/HGE5KXL5"},"agent_actions":{"view_html":"https://pith.science/pith/HGE5KXL55FS6KLKWE463ZLSBXE","download_json":"https://pith.science/pith/HGE5KXL55FS6KLKWE463ZLSBXE.json","view_paper":"https://pith.science/paper/HGE5KXL5","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2309.14975&json=true","fetch_graph":"https://pith.science/api/pith-number/HGE5KXL55FS6KLKWE463ZLSBXE/graph.json","fetch_events":"https://pith.science/api/pith-number/HGE5KXL55FS6KLKWE463ZLSBXE/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/HGE5KXL55FS6KLKWE463ZLSBXE/action/timestamp_anchor","attest_storage":"https://pith.science/pith/HGE5KXL55FS6KLKWE463ZLSBXE/action/storage_attestation","attest_author":"https://pith.science/pith/HGE5KXL55FS6KLKWE463ZLSBXE/action/author_attestation","sign_citation":"https://pith.science/pith/HGE5KXL55FS6KLKWE463ZLSBXE/action/citation_signature","submit_replication":"https://pith.science/pith/HGE5KXL55FS6KLKWE463ZLSBXE/action/replication_record"}},"created_at":"2026-07-05T08:17:10.871051+00:00","updated_at":"2026-07-05T08:17:10.871051+00:00"}