{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:HMUMW4JK2QE33WQUIIPOJPFGF6","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":"ad87c38f935bd456b11f887fbae1b8fe9b876b4bde79814552d3200a15dad343","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-07-13T16:08:03Z","title_canon_sha256":"7222cef8a89781d3eaff42654351d57c125eb5d75e82a91d2a79634258cd8597"},"schema_version":"1.0","source":{"id":"2307.06845","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2307.06845","created_at":"2026-07-05T06:30:38Z"},{"alias_kind":"arxiv_version","alias_value":"2307.06845v1","created_at":"2026-07-05T06:30:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2307.06845","created_at":"2026-07-05T06:30:38Z"},{"alias_kind":"pith_short_12","alias_value":"HMUMW4JK2QE3","created_at":"2026-07-05T06:30:38Z"},{"alias_kind":"pith_short_16","alias_value":"HMUMW4JK2QE33WQU","created_at":"2026-07-05T06:30:38Z"},{"alias_kind":"pith_short_8","alias_value":"HMUMW4JK","created_at":"2026-07-05T06:30:38Z"}],"graph_snapshots":[{"event_id":"sha256:1eaaa9252d39ea55468c2974683e4f6b20ed335b9e0365ae628f06e79572ab31","target":"graph","created_at":"2026-07-05T06:30:38Z","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/2307.06845/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Accurate 3D sensing of suturing thread is a challenging problem in automated surgical suturing because of the high state-space complexity, thinness and deformability of the thread, and possibility of occlusion by the grippers and tissue. In this work we present a method for tracking surgical thread in 3D which is robust to occlusions and complex thread configurations, and apply it to autonomously perform the surgical suture \"tail-shortening\" task: pulling thread through tissue until a desired \"tail\" length remains exposed. The method utilizes a learned 2D surgical thread detection network to s","authors_text":"Danyal M Fer, Justin Kerr, Kaushik Shivakumar, Ken Goldberg, Lionel Ott, Vainavi Viswanath, Vincent Schorp, Will Panitch, Yahav Avigal","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-07-13T16:08:03Z","title":"Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shortening"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2307.06845","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:cafe14f0ff6b13928dea548caf90d697dc60444be04daf3c774dd13c0a4519de","target":"record","created_at":"2026-07-05T06:30:38Z","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":"ad87c38f935bd456b11f887fbae1b8fe9b876b4bde79814552d3200a15dad343","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-07-13T16:08:03Z","title_canon_sha256":"7222cef8a89781d3eaff42654351d57c125eb5d75e82a91d2a79634258cd8597"},"schema_version":"1.0","source":{"id":"2307.06845","kind":"arxiv","version":1}},"canonical_sha256":"3b28cb712ad409bdda14421ee4bca62f806f152705a9430fdacb960fab2c96cf","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3b28cb712ad409bdda14421ee4bca62f806f152705a9430fdacb960fab2c96cf","first_computed_at":"2026-07-05T06:30:38.411488Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:30:38.411488Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GhcJUBsChyAJ0nRlxrMSIBsPlg8mWGlLSkBNibrMU8EoPtOLO3LDUeDcqJWnlok4PJIkBcO98+x+MSr/89BvDA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:30:38.411859Z","signed_message":"canonical_sha256_bytes"},"source_id":"2307.06845","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cafe14f0ff6b13928dea548caf90d697dc60444be04daf3c774dd13c0a4519de","sha256:1eaaa9252d39ea55468c2974683e4f6b20ed335b9e0365ae628f06e79572ab31"],"state_sha256":"a472c3a908dd15f7f5f3db85aa081336eff51c66de8f8c0f380fdb3a77ac45c4"}