{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:HNLMEH55JSMCWNSE5DJJU273AM","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":"97c7b9b9c984a57e61f2fc35182d97252f4c366487fd7772873b9a3b0b824607","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-26T16:54:34Z","title_canon_sha256":"b332cccf7a06ea3a667b1abcef27403145bdc34d81735eccdefe348d67037077"},"schema_version":"1.0","source":{"id":"2508.19191","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.19191","created_at":"2026-06-02T01:03:33Z"},{"alias_kind":"arxiv_version","alias_value":"2508.19191v3","created_at":"2026-06-02T01:03:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.19191","created_at":"2026-06-02T01:03:33Z"},{"alias_kind":"pith_short_12","alias_value":"HNLMEH55JSMC","created_at":"2026-06-02T01:03:33Z"},{"alias_kind":"pith_short_16","alias_value":"HNLMEH55JSMCWNSE","created_at":"2026-06-02T01:03:33Z"},{"alias_kind":"pith_short_8","alias_value":"HNLMEH55","created_at":"2026-06-02T01:03:33Z"}],"graph_snapshots":[{"event_id":"sha256:87fbdde80648c7c1f3e9e67311ed969d8d7de2df8f6380f06dc7ab55e800b4e9","target":"graph","created_at":"2026-06-02T01:03:33Z","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/2508.19191/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Intraocular foreign body removal demands millimeter-level precision in confined intraocular spaces, yet existing robotic systems predominantly rely on manual teleoperation with steep learning curves. To address the challenges of autonomous manipulation, particularly kinematic uncertainties from variable motion scaling and Remote Center of Motion (RCM) point variation, we propose RCM-ACT, an imitation learning framework for autonomous intraocular foreign body ring manipulation. Our approach integrates RCM dynamic calibration to resolve coordinate system inconsistencies caused by intraocular ins","authors_text":"Di Cui, Haochao Ying, Haotian Xue, Jian Wu, Mingchuan Zhou, Wenjie Deng, Yiqi Chen, Yue Wang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-26T16:54:34Z","title":"RCM-ACT: Imitation Learning with Dynamic RCM Calibration for Autonomous Intraocular Foreign Body Removal"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.19191","kind":"arxiv","version":3},"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":"sha256:6ce3bd4292215a118fbe499b9b9eaf7633cf3c69c240d11fb2d59b83d05a4be8","target":"record","created_at":"2026-06-02T01:03:33Z","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":"97c7b9b9c984a57e61f2fc35182d97252f4c366487fd7772873b9a3b0b824607","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-08-26T16:54:34Z","title_canon_sha256":"b332cccf7a06ea3a667b1abcef27403145bdc34d81735eccdefe348d67037077"},"schema_version":"1.0","source":{"id":"2508.19191","kind":"arxiv","version":3}},"canonical_sha256":"3b56c21fbd4c982b3644e8d29a6bfb03118fc1bc79a271d654e7e9db7b855a8f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3b56c21fbd4c982b3644e8d29a6bfb03118fc1bc79a271d654e7e9db7b855a8f","first_computed_at":"2026-06-02T01:03:33.407327Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-02T01:03:33.407327Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"5eSAIR/EaIodHPNGkAyVd1oQT7gd9fO5+QvC72+JPG4Fh/IzDSQDABh6gGzvpA2McXIlWUaY5Dp6mCpRs9oIBQ==","signature_status":"signed_v1","signed_at":"2026-06-02T01:03:33.407792Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.19191","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6ce3bd4292215a118fbe499b9b9eaf7633cf3c69c240d11fb2d59b83d05a4be8","sha256:87fbdde80648c7c1f3e9e67311ed969d8d7de2df8f6380f06dc7ab55e800b4e9"],"state_sha256":"2da91eccd99afed8733d6236c806ff1375bb87bec95d68ace33ca3a572195fc6"}