{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:JHTNI3SGHE5F7MMV4TDNVEN642","short_pith_number":"pith:JHTNI3SG","canonical_record":{"source":{"id":"2412.00597","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-30T22:05:52Z","cross_cats_sorted":[],"title_canon_sha256":"33385556b6f57de58460983ea0ce664f07381e058041b54f72dd756f546c6700","abstract_canon_sha256":"7c692e1207a1dba48bca75d51dff490edc49e5f2c015801288951b52942b04ec"},"schema_version":"1.0"},"canonical_sha256":"49e6d46e46393a5fb195e4c6da91bee69f19b3e30634d812942de3fa0dbac3ba","source":{"kind":"arxiv","id":"2412.00597","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.00597","created_at":"2026-07-05T10:27:20Z"},{"alias_kind":"arxiv_version","alias_value":"2412.00597v2","created_at":"2026-07-05T10:27:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.00597","created_at":"2026-07-05T10:27:20Z"},{"alias_kind":"pith_short_12","alias_value":"JHTNI3SGHE5F","created_at":"2026-07-05T10:27:20Z"},{"alias_kind":"pith_short_16","alias_value":"JHTNI3SGHE5F7MMV","created_at":"2026-07-05T10:27:20Z"},{"alias_kind":"pith_short_8","alias_value":"JHTNI3SG","created_at":"2026-07-05T10:27:20Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:JHTNI3SGHE5F7MMV4TDNVEN642","target":"record","payload":{"canonical_record":{"source":{"id":"2412.00597","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-30T22:05:52Z","cross_cats_sorted":[],"title_canon_sha256":"33385556b6f57de58460983ea0ce664f07381e058041b54f72dd756f546c6700","abstract_canon_sha256":"7c692e1207a1dba48bca75d51dff490edc49e5f2c015801288951b52942b04ec"},"schema_version":"1.0"},"canonical_sha256":"49e6d46e46393a5fb195e4c6da91bee69f19b3e30634d812942de3fa0dbac3ba","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:27:20.728981Z","signature_b64":"xftAQq5pVLQEAsvfMSWVuYC2195Zp5g4gAmQruKnfhOJ1lcYpypoo1Yme0p2PmMn6ksdWfAEyo/Mo9iY+FOCAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"49e6d46e46393a5fb195e4c6da91bee69f19b3e30634d812942de3fa0dbac3ba","last_reissued_at":"2026-07-05T10:27:20.728274Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:27:20.728274Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2412.00597","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:27:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"utA/WOzEG5retvHwhveDv5vZ0UPDOdmnUpYbqGUMUzU321VaypZlok6KZgsnZ1LFNn2rmZk+w1JNvaDYaBalBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T03:22:14.229761Z"},"content_sha256":"4475a768c022b895c30e37339c821b8720ab8f46c446c7d61dd981b527b014cb","schema_version":"1.0","event_id":"sha256:4475a768c022b895c30e37339c821b8720ab8f46c446c7d61dd981b527b014cb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:JHTNI3SGHE5F7MMV4TDNVEN642","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Spline-FRIDA: Towards Diverse, Humanlike Robot Painting Styles with a Sample-Efficient, Differentiable Brush Stroke Model","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jean Oh, Lawrence Chen, Lia Coleman, Peter Schaldenbrand, Tanmay Shankar","submitted_at":"2024-11-30T22:05:52Z","abstract_excerpt":"A painting is more than just a picture on a wall; a painting is a process comprised of many intentional brush strokes, the shapes of which are an important component of a painting's overall style and message. Prior work in modeling brush stroke trajectories either does not work with real-world robotics or is not flexible enough to capture the complexity of human-made brush strokes. In this work, we introduce Spline-FRIDA which can model complex human brush stroke trajectories. This is achieved by recording artists drawing using motion capture, modeling the extracted trajectories with an autoen"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.00597","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/2412.00597/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":"2026-07-05T10:27:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AnYoKUWvujUTS7RAL/9e4iE9b1kQAviCa7DWb4VroZfqVWttCu4ryxNG7CeDgYz83i34jJG/Xj7JjIouVXE2DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T03:22:14.230666Z"},"content_sha256":"042fd40fa46db5d1573b7b8899a3a22a8c5e4d71fcd330e96204e1a115fea1cc","schema_version":"1.0","event_id":"sha256:042fd40fa46db5d1573b7b8899a3a22a8c5e4d71fcd330e96204e1a115fea1cc"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JHTNI3SGHE5F7MMV4TDNVEN642/bundle.json","state_url":"https://pith.science/pith/JHTNI3SGHE5F7MMV4TDNVEN642/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JHTNI3SGHE5F7MMV4TDNVEN642/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":"2026-08-17T03:22:14Z","links":{"resolver":"https://pith.science/pith/JHTNI3SGHE5F7MMV4TDNVEN642","bundle":"https://pith.science/pith/JHTNI3SGHE5F7MMV4TDNVEN642/bundle.json","state":"https://pith.science/pith/JHTNI3SGHE5F7MMV4TDNVEN642/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JHTNI3SGHE5F7MMV4TDNVEN642/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:JHTNI3SGHE5F7MMV4TDNVEN642","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":"7c692e1207a1dba48bca75d51dff490edc49e5f2c015801288951b52942b04ec","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-30T22:05:52Z","title_canon_sha256":"33385556b6f57de58460983ea0ce664f07381e058041b54f72dd756f546c6700"},"schema_version":"1.0","source":{"id":"2412.00597","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.00597","created_at":"2026-07-05T10:27:20Z"},{"alias_kind":"arxiv_version","alias_value":"2412.00597v2","created_at":"2026-07-05T10:27:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.00597","created_at":"2026-07-05T10:27:20Z"},{"alias_kind":"pith_short_12","alias_value":"JHTNI3SGHE5F","created_at":"2026-07-05T10:27:20Z"},{"alias_kind":"pith_short_16","alias_value":"JHTNI3SGHE5F7MMV","created_at":"2026-07-05T10:27:20Z"},{"alias_kind":"pith_short_8","alias_value":"JHTNI3SG","created_at":"2026-07-05T10:27:20Z"}],"graph_snapshots":[{"event_id":"sha256:042fd40fa46db5d1573b7b8899a3a22a8c5e4d71fcd330e96204e1a115fea1cc","target":"graph","created_at":"2026-07-05T10:27:20Z","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/2412.00597/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"A painting is more than just a picture on a wall; a painting is a process comprised of many intentional brush strokes, the shapes of which are an important component of a painting's overall style and message. Prior work in modeling brush stroke trajectories either does not work with real-world robotics or is not flexible enough to capture the complexity of human-made brush strokes. In this work, we introduce Spline-FRIDA which can model complex human brush stroke trajectories. This is achieved by recording artists drawing using motion capture, modeling the extracted trajectories with an autoen","authors_text":"Jean Oh, Lawrence Chen, Lia Coleman, Peter Schaldenbrand, Tanmay Shankar","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-30T22:05:52Z","title":"Spline-FRIDA: Towards Diverse, Humanlike Robot Painting Styles with a Sample-Efficient, Differentiable Brush Stroke Model"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.00597","kind":"arxiv","version":2},"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":"sha256:4475a768c022b895c30e37339c821b8720ab8f46c446c7d61dd981b527b014cb","target":"record","created_at":"2026-07-05T10:27:20Z","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":"7c692e1207a1dba48bca75d51dff490edc49e5f2c015801288951b52942b04ec","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-30T22:05:52Z","title_canon_sha256":"33385556b6f57de58460983ea0ce664f07381e058041b54f72dd756f546c6700"},"schema_version":"1.0","source":{"id":"2412.00597","kind":"arxiv","version":2}},"canonical_sha256":"49e6d46e46393a5fb195e4c6da91bee69f19b3e30634d812942de3fa0dbac3ba","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"49e6d46e46393a5fb195e4c6da91bee69f19b3e30634d812942de3fa0dbac3ba","first_computed_at":"2026-07-05T10:27:20.728274Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:27:20.728274Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xftAQq5pVLQEAsvfMSWVuYC2195Zp5g4gAmQruKnfhOJ1lcYpypoo1Yme0p2PmMn6ksdWfAEyo/Mo9iY+FOCAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T10:27:20.728981Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.00597","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4475a768c022b895c30e37339c821b8720ab8f46c446c7d61dd981b527b014cb","sha256:042fd40fa46db5d1573b7b8899a3a22a8c5e4d71fcd330e96204e1a115fea1cc"],"state_sha256":"41955ac9f65639b51f9a78fc54b9f5b2909cea0ef6153554321a293c3e44076f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XtFdcmH6v7VkA4DOVvjqx9nMfAhrM62vi0WTpS7ds0heHLOH4nDjDhamZ0HEcNcM1EYjcG7g4DmHWfl89xBHBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-17T03:22:14.235821Z","bundle_sha256":"0e5b429f64be2976a3d7352ceee182af31fa11536cce520bafd03da307a68911"}}