{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:IIIGYDCGZOIPPTCSKPZ5MKQGS2","short_pith_number":"pith:IIIGYDCG","canonical_record":{"source":{"id":"1909.08289","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-09-18T08:54:32Z","cross_cats_sorted":[],"title_canon_sha256":"5cbd84f7bc9dc4491cb285d185654092582aaff0509c63755aaa01efa222187a","abstract_canon_sha256":"9057fcdda5b53d3fd9323ccac6b395a18130bf3e7e318329ca5c7d3148da5282"},"schema_version":"1.0"},"canonical_sha256":"42106c0c46cb90f7cc5253f3d62a0696842b97a554134f48b4d1c53309f6218c","source":{"kind":"arxiv","id":"1909.08289","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1909.08289","created_at":"2026-07-05T00:05:29Z"},{"alias_kind":"arxiv_version","alias_value":"1909.08289v1","created_at":"2026-07-05T00:05:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1909.08289","created_at":"2026-07-05T00:05:29Z"},{"alias_kind":"pith_short_12","alias_value":"IIIGYDCGZOIP","created_at":"2026-07-05T00:05:29Z"},{"alias_kind":"pith_short_16","alias_value":"IIIGYDCGZOIPPTCS","created_at":"2026-07-05T00:05:29Z"},{"alias_kind":"pith_short_8","alias_value":"IIIGYDCG","created_at":"2026-07-05T00:05:29Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:IIIGYDCGZOIPPTCSKPZ5MKQGS2","target":"record","payload":{"canonical_record":{"source":{"id":"1909.08289","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-09-18T08:54:32Z","cross_cats_sorted":[],"title_canon_sha256":"5cbd84f7bc9dc4491cb285d185654092582aaff0509c63755aaa01efa222187a","abstract_canon_sha256":"9057fcdda5b53d3fd9323ccac6b395a18130bf3e7e318329ca5c7d3148da5282"},"schema_version":"1.0"},"canonical_sha256":"42106c0c46cb90f7cc5253f3d62a0696842b97a554134f48b4d1c53309f6218c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:05:29.283666Z","signature_b64":"FLo5RNTj1SpkYQ/F4Mh0qDKi/s+DV2tM/TMj6xyVwAu7SyD7JLMUa6cIOj3S9h2ARgzalnwEKTcJEWv1DwsFBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"42106c0c46cb90f7cc5253f3d62a0696842b97a554134f48b4d1c53309f6218c","last_reissued_at":"2026-07-05T00:05:29.283288Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:05:29.283288Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1909.08289","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T00:05:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"63MW+fKgCfs3mVIi+mqjEqp4fJ7h5z3KEcfAgHJXy/ZHyPgp78PUQlxoiwovlDS2SG9WjFfdFxhJ+QLMT1qNDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T07:11:36.114017Z"},"content_sha256":"ede246d9fb915d32b40642d7789392c17a2482e15cd74faab2b1fc310a004064","schema_version":"1.0","event_id":"sha256:ede246d9fb915d32b40642d7789392c17a2482e15cd74faab2b1fc310a004064"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:IIIGYDCGZOIPPTCSKPZ5MKQGS2","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Segmentation of Robot Movements using Position and Contact Forces","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Anders Robertsson, Martin Karlsson, Rolf Johansson","submitted_at":"2019-09-18T08:54:32Z","abstract_excerpt":"In this paper, a method for autonomous segmentation of demonstrated robot movements is proposed. Position data is clustered into Gaussian mixture models (GMMs), and an initial set of segments is identified from the Gaussian basis functions. A Kalman filter is used to detect sudden changes in the contact force/torque measurements, and this is used to update and verify the initial segmentation points. The segmentation method is verified experimentally on an industrial robot."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1909.08289","kind":"arxiv","version":1},"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/1909.08289/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T00:05:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LT2Yl/TK5+CU8BzBVWpC2nJ9Qy7xJRiyT0fwkhG4MSlZk9SbjXIu+0gdbpSmpA73PWE+9n20Qa+HpUzeIp8UCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T07:11:36.114907Z"},"content_sha256":"c6555de7b8cb79c0bf8926595a370e4dd7e8decf206c713023a04291976b486e","schema_version":"1.0","event_id":"sha256:c6555de7b8cb79c0bf8926595a370e4dd7e8decf206c713023a04291976b486e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/IIIGYDCGZOIPPTCSKPZ5MKQGS2/bundle.json","state_url":"https://pith.science/pith/IIIGYDCGZOIPPTCSKPZ5MKQGS2/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/IIIGYDCGZOIPPTCSKPZ5MKQGS2/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-19T07:11:36Z","links":{"resolver":"https://pith.science/pith/IIIGYDCGZOIPPTCSKPZ5MKQGS2","bundle":"https://pith.science/pith/IIIGYDCGZOIPPTCSKPZ5MKQGS2/bundle.json","state":"https://pith.science/pith/IIIGYDCGZOIPPTCSKPZ5MKQGS2/state.json","well_known_bundle":"https://pith.science/.well-known/pith/IIIGYDCGZOIPPTCSKPZ5MKQGS2/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:IIIGYDCGZOIPPTCSKPZ5MKQGS2","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":"9057fcdda5b53d3fd9323ccac6b395a18130bf3e7e318329ca5c7d3148da5282","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-09-18T08:54:32Z","title_canon_sha256":"5cbd84f7bc9dc4491cb285d185654092582aaff0509c63755aaa01efa222187a"},"schema_version":"1.0","source":{"id":"1909.08289","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1909.08289","created_at":"2026-07-05T00:05:29Z"},{"alias_kind":"arxiv_version","alias_value":"1909.08289v1","created_at":"2026-07-05T00:05:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1909.08289","created_at":"2026-07-05T00:05:29Z"},{"alias_kind":"pith_short_12","alias_value":"IIIGYDCGZOIP","created_at":"2026-07-05T00:05:29Z"},{"alias_kind":"pith_short_16","alias_value":"IIIGYDCGZOIPPTCS","created_at":"2026-07-05T00:05:29Z"},{"alias_kind":"pith_short_8","alias_value":"IIIGYDCG","created_at":"2026-07-05T00:05:29Z"}],"graph_snapshots":[{"event_id":"sha256:c6555de7b8cb79c0bf8926595a370e4dd7e8decf206c713023a04291976b486e","target":"graph","created_at":"2026-07-05T00:05:29Z","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/1909.08289/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, a method for autonomous segmentation of demonstrated robot movements is proposed. Position data is clustered into Gaussian mixture models (GMMs), and an initial set of segments is identified from the Gaussian basis functions. A Kalman filter is used to detect sudden changes in the contact force/torque measurements, and this is used to update and verify the initial segmentation points. The segmentation method is verified experimentally on an industrial robot.","authors_text":"Anders Robertsson, Martin Karlsson, Rolf Johansson","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-09-18T08:54:32Z","title":"Segmentation of Robot Movements using Position and Contact Forces"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1909.08289","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:ede246d9fb915d32b40642d7789392c17a2482e15cd74faab2b1fc310a004064","target":"record","created_at":"2026-07-05T00:05:29Z","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":"9057fcdda5b53d3fd9323ccac6b395a18130bf3e7e318329ca5c7d3148da5282","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-09-18T08:54:32Z","title_canon_sha256":"5cbd84f7bc9dc4491cb285d185654092582aaff0509c63755aaa01efa222187a"},"schema_version":"1.0","source":{"id":"1909.08289","kind":"arxiv","version":1}},"canonical_sha256":"42106c0c46cb90f7cc5253f3d62a0696842b97a554134f48b4d1c53309f6218c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"42106c0c46cb90f7cc5253f3d62a0696842b97a554134f48b4d1c53309f6218c","first_computed_at":"2026-07-05T00:05:29.283288Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:05:29.283288Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FLo5RNTj1SpkYQ/F4Mh0qDKi/s+DV2tM/TMj6xyVwAu7SyD7JLMUa6cIOj3S9h2ARgzalnwEKTcJEWv1DwsFBg==","signature_status":"signed_v1","signed_at":"2026-07-05T00:05:29.283666Z","signed_message":"canonical_sha256_bytes"},"source_id":"1909.08289","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ede246d9fb915d32b40642d7789392c17a2482e15cd74faab2b1fc310a004064","sha256:c6555de7b8cb79c0bf8926595a370e4dd7e8decf206c713023a04291976b486e"],"state_sha256":"0b7d1c00d4d6e4a87d162f3f4598008d827c31909de615fff873334f26e6bb3a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"aQfRc0vll4L4+Vf6NV+C6IeflyhcYy9GwTqicxdohcUADK4em8fieIpZO7/qW8yTo8qzF1MqrVH/B/fc4HwnBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-19T07:11:36.119566Z","bundle_sha256":"9fc7f4b8e802f335350f54b62cff3fa583d53f115d89d39ecbeea59c6670467b"}}