{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:LH4U3B6EQXXE575FKMEPRTQT2Y","short_pith_number":"pith:LH4U3B6E","canonical_record":{"source":{"id":"2412.13752","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-18T11:43:17Z","cross_cats_sorted":[],"title_canon_sha256":"3bb2ee34b21d3c3bbe29ca623a607d1393918da19789d109b1e63c303aca114c","abstract_canon_sha256":"51299b7b513345940384a7750bf848dac1a9c613234de89e3eeb5f5a8f3ceb03"},"schema_version":"1.0"},"canonical_sha256":"59f94d87c485ee4effa55308f8ce13d604147ca6eb193e49807d624fbb6aabf8","source":{"kind":"arxiv","id":"2412.13752","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.13752","created_at":"2026-07-05T09:51:07Z"},{"alias_kind":"arxiv_version","alias_value":"2412.13752v1","created_at":"2026-07-05T09:51:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.13752","created_at":"2026-07-05T09:51:07Z"},{"alias_kind":"pith_short_12","alias_value":"LH4U3B6EQXXE","created_at":"2026-07-05T09:51:07Z"},{"alias_kind":"pith_short_16","alias_value":"LH4U3B6EQXXE575F","created_at":"2026-07-05T09:51:07Z"},{"alias_kind":"pith_short_8","alias_value":"LH4U3B6E","created_at":"2026-07-05T09:51:07Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:LH4U3B6EQXXE575FKMEPRTQT2Y","target":"record","payload":{"canonical_record":{"source":{"id":"2412.13752","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-18T11:43:17Z","cross_cats_sorted":[],"title_canon_sha256":"3bb2ee34b21d3c3bbe29ca623a607d1393918da19789d109b1e63c303aca114c","abstract_canon_sha256":"51299b7b513345940384a7750bf848dac1a9c613234de89e3eeb5f5a8f3ceb03"},"schema_version":"1.0"},"canonical_sha256":"59f94d87c485ee4effa55308f8ce13d604147ca6eb193e49807d624fbb6aabf8","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:51:07.718132Z","signature_b64":"Zc46ymhdlDSbevge+M7oxZNqd0yBgMomZTJy07KfDHxXfvp5cIkQSe91HeAPLoSSPXqCosoTH7+QS2mV4F8BBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"59f94d87c485ee4effa55308f8ce13d604147ca6eb193e49807d624fbb6aabf8","last_reissued_at":"2026-07-05T09:51:07.717642Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:51:07.717642Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2412.13752","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":"2026-07-05T09:51:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6WD4YzGhJMH1DUHMQbCZQRuA+tgLgpfqNzV8ptoHoGl9xEbvZEMlxzi+PiYRh/Dq3DTYvZUD0S2sB5WqW+/0Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T12:49:34.868867Z"},"content_sha256":"8f89ebc57b975db4958dfd821dd30a560ed7225256109ce66608784699540ac4","schema_version":"1.0","event_id":"sha256:8f89ebc57b975db4958dfd821dd30a560ed7225256109ce66608784699540ac4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:LH4U3B6EQXXE575FKMEPRTQT2Y","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Immersive Human-in-the-Loop Control: Real-Time 3D Surface Meshing and Physics Simulation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Junaid Ahmad, Justin Valentine, Martin Jagersand, Sait Akturk","submitted_at":"2024-12-18T11:43:17Z","abstract_excerpt":"This paper introduces the TactiMesh Teleoperator Interface (TTI), a novel predictive visual and haptic system designed explicitly for human-in-the-loop robot control using a head-mounted display (HMD). By employing simultaneous localization and mapping (SLAM)in tandem with a space carving method (CARV), TTI creates a real time 3D surface mesh of remote environments from an RGB camera mounted on a Barrett WAM arm. The generated mesh is integrated into a physics simulator, featuring a digital twin of the WAM robot arm to create a virtual environment. In this virtual environment, TTI provides hap"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.13752","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/2412.13752/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":"2026-07-05T09:51:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Fd1jcQUUKv2eNnTP5+uTgjzqHWT9xrq3zl73yL4GvPziLf3ePnCwzSwHHXn7XitE34RFingjkuA38eJ6qx5rAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-12T12:49:34.869738Z"},"content_sha256":"e6a14dc4424f02ae1dddbb6f56e0685c1118cad3a2476f6e756fe1373463c765","schema_version":"1.0","event_id":"sha256:e6a14dc4424f02ae1dddbb6f56e0685c1118cad3a2476f6e756fe1373463c765"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LH4U3B6EQXXE575FKMEPRTQT2Y/bundle.json","state_url":"https://pith.science/pith/LH4U3B6EQXXE575FKMEPRTQT2Y/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LH4U3B6EQXXE575FKMEPRTQT2Y/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":"2026-08-12T12:49:34Z","links":{"resolver":"https://pith.science/pith/LH4U3B6EQXXE575FKMEPRTQT2Y","bundle":"https://pith.science/pith/LH4U3B6EQXXE575FKMEPRTQT2Y/bundle.json","state":"https://pith.science/pith/LH4U3B6EQXXE575FKMEPRTQT2Y/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LH4U3B6EQXXE575FKMEPRTQT2Y/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:LH4U3B6EQXXE575FKMEPRTQT2Y","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":"51299b7b513345940384a7750bf848dac1a9c613234de89e3eeb5f5a8f3ceb03","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-18T11:43:17Z","title_canon_sha256":"3bb2ee34b21d3c3bbe29ca623a607d1393918da19789d109b1e63c303aca114c"},"schema_version":"1.0","source":{"id":"2412.13752","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.13752","created_at":"2026-07-05T09:51:07Z"},{"alias_kind":"arxiv_version","alias_value":"2412.13752v1","created_at":"2026-07-05T09:51:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.13752","created_at":"2026-07-05T09:51:07Z"},{"alias_kind":"pith_short_12","alias_value":"LH4U3B6EQXXE","created_at":"2026-07-05T09:51:07Z"},{"alias_kind":"pith_short_16","alias_value":"LH4U3B6EQXXE575F","created_at":"2026-07-05T09:51:07Z"},{"alias_kind":"pith_short_8","alias_value":"LH4U3B6E","created_at":"2026-07-05T09:51:07Z"}],"graph_snapshots":[{"event_id":"sha256:e6a14dc4424f02ae1dddbb6f56e0685c1118cad3a2476f6e756fe1373463c765","target":"graph","created_at":"2026-07-05T09:51:07Z","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/2412.13752/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper introduces the TactiMesh Teleoperator Interface (TTI), a novel predictive visual and haptic system designed explicitly for human-in-the-loop robot control using a head-mounted display (HMD). By employing simultaneous localization and mapping (SLAM)in tandem with a space carving method (CARV), TTI creates a real time 3D surface mesh of remote environments from an RGB camera mounted on a Barrett WAM arm. The generated mesh is integrated into a physics simulator, featuring a digital twin of the WAM robot arm to create a virtual environment. In this virtual environment, TTI provides hap","authors_text":"Junaid Ahmad, Justin Valentine, Martin Jagersand, Sait Akturk","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-18T11:43:17Z","title":"Immersive Human-in-the-Loop Control: Real-Time 3D Surface Meshing and Physics Simulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.13752","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":"sha256:8f89ebc57b975db4958dfd821dd30a560ed7225256109ce66608784699540ac4","target":"record","created_at":"2026-07-05T09:51:07Z","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":"51299b7b513345940384a7750bf848dac1a9c613234de89e3eeb5f5a8f3ceb03","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-18T11:43:17Z","title_canon_sha256":"3bb2ee34b21d3c3bbe29ca623a607d1393918da19789d109b1e63c303aca114c"},"schema_version":"1.0","source":{"id":"2412.13752","kind":"arxiv","version":1}},"canonical_sha256":"59f94d87c485ee4effa55308f8ce13d604147ca6eb193e49807d624fbb6aabf8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"59f94d87c485ee4effa55308f8ce13d604147ca6eb193e49807d624fbb6aabf8","first_computed_at":"2026-07-05T09:51:07.717642Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:51:07.717642Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Zc46ymhdlDSbevge+M7oxZNqd0yBgMomZTJy07KfDHxXfvp5cIkQSe91HeAPLoSSPXqCosoTH7+QS2mV4F8BBg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:51:07.718132Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.13752","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8f89ebc57b975db4958dfd821dd30a560ed7225256109ce66608784699540ac4","sha256:e6a14dc4424f02ae1dddbb6f56e0685c1118cad3a2476f6e756fe1373463c765"],"state_sha256":"3fcc7c03351fbfc3a0713757ff602cab7814ef46a8a524a9cc6943d0a097f72b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SymjVlkbX87cxiNJeS0N+1S2FLKp97WKjPM2qiTKjhG2PcfY9k+RACrnh6rGTXLn9JSSyJRrh6B/EAW+ws/ODQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-12T12:49:34.876177Z","bundle_sha256":"1b710e37f2f8f4946907613bf102540b43bcad9c3cad9466aa1268ad39a72160"}}