{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:IEJ72KM4ULX7GR3ADBQKMXBLB4","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":"59eb384bab8f428cad6cc61efcf1dbac8b7c393aa9a02625b55b6efb965fe3c3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-10-18T22:05:37Z","title_canon_sha256":"ab511d70d960526811553a48600998e058b239d317ab1431963a8cd1da6e3b73"},"schema_version":"1.0","source":{"id":"1710.06947","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1710.06947","created_at":"2026-05-17T23:56:10Z"},{"alias_kind":"arxiv_version","alias_value":"1710.06947v3","created_at":"2026-05-17T23:56:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1710.06947","created_at":"2026-05-17T23:56:10Z"},{"alias_kind":"pith_short_12","alias_value":"IEJ72KM4ULX7","created_at":"2026-05-18T12:31:21Z"},{"alias_kind":"pith_short_16","alias_value":"IEJ72KM4ULX7GR3A","created_at":"2026-05-18T12:31:21Z"},{"alias_kind":"pith_short_8","alias_value":"IEJ72KM4","created_at":"2026-05-18T12:31:21Z"}],"graph_snapshots":[{"event_id":"sha256:82ffc08919242ee46e1b42840468a44eccd3a6e33751e60cd20e0a109149fe49","target":"graph","created_at":"2026-05-17T23:56:10Z","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"},"paper":{"abstract_excerpt":"The complex physical properties of highly deformable materials such as clothes pose significant challenges fanipulation systems. We present a novel visual feedback dictionary-based method for manipulating defoor autonomous robotic mrmable objects towards a desired configuration. Our approach is based on visual servoing and we use an efficient technique to extract key features from the RGB sensor stream in the form of a histogram of deformable model features. These histogram features serve as high-level representations of the state of the deformable material. Next, we collect manipulation data ","authors_text":"Biao Jia, Dinesh Manocha, Jia Pan, Zhe Hu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-10-18T22:05:37Z","title":"Manipulating Highly Deformable Materials Using a Visual Feedback Dictionary"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1710.06947","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:dfc4ce5d7d5065ca040ea5bedef86fe1bd6d901277bb9c6d03721eb6ca583e18","target":"record","created_at":"2026-05-17T23:56:10Z","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":"59eb384bab8f428cad6cc61efcf1dbac8b7c393aa9a02625b55b6efb965fe3c3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-10-18T22:05:37Z","title_canon_sha256":"ab511d70d960526811553a48600998e058b239d317ab1431963a8cd1da6e3b73"},"schema_version":"1.0","source":{"id":"1710.06947","kind":"arxiv","version":3}},"canonical_sha256":"4113fd299ca2eff347601860a65c2b0f028f658f48f6513b03232b18ed1dee57","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4113fd299ca2eff347601860a65c2b0f028f658f48f6513b03232b18ed1dee57","first_computed_at":"2026-05-17T23:56:10.451162Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:56:10.451162Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1dSAgDpaMu1/9arssbhgaLnjfkDajYqkSbje33NcDLaOPrLA1+wjzvOzB9WYkLpEsWlkTdk5GjRyE2UX3cINCw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:56:10.451876Z","signed_message":"canonical_sha256_bytes"},"source_id":"1710.06947","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:dfc4ce5d7d5065ca040ea5bedef86fe1bd6d901277bb9c6d03721eb6ca583e18","sha256:82ffc08919242ee46e1b42840468a44eccd3a6e33751e60cd20e0a109149fe49"],"state_sha256":"1dd9d51010edfe8010b0820c3fb3a6b7495d5a3f82e6d8bfae51a4f4bb9adf49"}