{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:LORZD7Z57NOP6AN5WOCXIADRFT","short_pith_number":"pith:LORZD7Z5","canonical_record":{"source":{"id":"2404.05262","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-08T07:51:20Z","cross_cats_sorted":[],"title_canon_sha256":"d3c04c3886ded611357f8424d141af75d6d32e952f3116834f75d93320767b78","abstract_canon_sha256":"d969130124e62950d518f00795a163f361cd963d502c6c604056587dd9e516d4"},"schema_version":"1.0"},"canonical_sha256":"5ba391ff3dfb5cff01bdb3857400712cc41e6ad34371521eb4aba52e44048fad","source":{"kind":"arxiv","id":"2404.05262","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2404.05262","created_at":"2026-07-05T08:07:37Z"},{"alias_kind":"arxiv_version","alias_value":"2404.05262v2","created_at":"2026-07-05T08:07:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.05262","created_at":"2026-07-05T08:07:37Z"},{"alias_kind":"pith_short_12","alias_value":"LORZD7Z57NOP","created_at":"2026-07-05T08:07:37Z"},{"alias_kind":"pith_short_16","alias_value":"LORZD7Z57NOP6AN5","created_at":"2026-07-05T08:07:37Z"},{"alias_kind":"pith_short_8","alias_value":"LORZD7Z5","created_at":"2026-07-05T08:07:37Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:LORZD7Z57NOP6AN5WOCXIADRFT","target":"record","payload":{"canonical_record":{"source":{"id":"2404.05262","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-08T07:51:20Z","cross_cats_sorted":[],"title_canon_sha256":"d3c04c3886ded611357f8424d141af75d6d32e952f3116834f75d93320767b78","abstract_canon_sha256":"d969130124e62950d518f00795a163f361cd963d502c6c604056587dd9e516d4"},"schema_version":"1.0"},"canonical_sha256":"5ba391ff3dfb5cff01bdb3857400712cc41e6ad34371521eb4aba52e44048fad","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:07:37.067576Z","signature_b64":"2nP8b9MWJu1AiGW45Tu/hHPrJvi9pRsdu8C5CCBcHy92/ockV6gaL4lOCqDxoYy++/MDHFl5WIb3GoUHnWdLCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5ba391ff3dfb5cff01bdb3857400712cc41e6ad34371521eb4aba52e44048fad","last_reissued_at":"2026-07-05T08:07:37.067073Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:07:37.067073Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2404.05262","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":"2026-07-05T08:07:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dRAmXwszsezJdXaOYkiltdvKKKkGThnuWu1fXTy9JdJH043FxqBCNZyvI+tdhWALJ08WTz3p6da6nq2QF2v5AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T18:03:44.375404Z"},"content_sha256":"d9a1c83ad9b35a46c46921da24f74024a1e84a46f63dceb3fef36a46bd791ef7","schema_version":"1.0","event_id":"sha256:d9a1c83ad9b35a46c46921da24f74024a1e84a46f63dceb3fef36a46bd791ef7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:LORZD7Z57NOP6AN5WOCXIADRFT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Robust Anthropomorphic Robotic Manipulation through Biomimetic Distributed Compliance","license":"http://creativecommons.org/publicdomain/zero/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Josie Hughes, Kai Junge","submitted_at":"2024-04-08T07:51:20Z","abstract_excerpt":"The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in an anthropomorphic robotic hand, the open-loop manipulation robustness increases and observe the emergence of human-like behaviours. To achieve this, we introduce the ADAPT Hand equipped with tunable compliance throughout the skin, fingers, and the wrist. Through extensive automated pick-and-place tests, we show the grasping robustness closely mirrors an est"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.05262","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/2404.05262/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":"2026-07-05T08:07:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2b9pCr2Pw2XjkMghlY+Yrbj4kXmh9ZbdQIsG9jL/U90+fComBYp5nNNsIixm3QneCe7zgyK0FMQHngKTyi1RBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T18:03:44.375906Z"},"content_sha256":"afe480ea82c9bea2c493cfcbee6a512c51b206d7d517cead08da7c7011305e43","schema_version":"1.0","event_id":"sha256:afe480ea82c9bea2c493cfcbee6a512c51b206d7d517cead08da7c7011305e43"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LORZD7Z57NOP6AN5WOCXIADRFT/bundle.json","state_url":"https://pith.science/pith/LORZD7Z57NOP6AN5WOCXIADRFT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LORZD7Z57NOP6AN5WOCXIADRFT/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":"2026-08-22T18:03:44Z","links":{"resolver":"https://pith.science/pith/LORZD7Z57NOP6AN5WOCXIADRFT","bundle":"https://pith.science/pith/LORZD7Z57NOP6AN5WOCXIADRFT/bundle.json","state":"https://pith.science/pith/LORZD7Z57NOP6AN5WOCXIADRFT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LORZD7Z57NOP6AN5WOCXIADRFT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:LORZD7Z57NOP6AN5WOCXIADRFT","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":"d969130124e62950d518f00795a163f361cd963d502c6c604056587dd9e516d4","cross_cats_sorted":[],"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-08T07:51:20Z","title_canon_sha256":"d3c04c3886ded611357f8424d141af75d6d32e952f3116834f75d93320767b78"},"schema_version":"1.0","source":{"id":"2404.05262","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2404.05262","created_at":"2026-07-05T08:07:37Z"},{"alias_kind":"arxiv_version","alias_value":"2404.05262v2","created_at":"2026-07-05T08:07:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.05262","created_at":"2026-07-05T08:07:37Z"},{"alias_kind":"pith_short_12","alias_value":"LORZD7Z57NOP","created_at":"2026-07-05T08:07:37Z"},{"alias_kind":"pith_short_16","alias_value":"LORZD7Z57NOP6AN5","created_at":"2026-07-05T08:07:37Z"},{"alias_kind":"pith_short_8","alias_value":"LORZD7Z5","created_at":"2026-07-05T08:07:37Z"}],"graph_snapshots":[{"event_id":"sha256:afe480ea82c9bea2c493cfcbee6a512c51b206d7d517cead08da7c7011305e43","target":"graph","created_at":"2026-07-05T08:07:37Z","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/2404.05262/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in an anthropomorphic robotic hand, the open-loop manipulation robustness increases and observe the emergence of human-like behaviours. To achieve this, we introduce the ADAPT Hand equipped with tunable compliance throughout the skin, fingers, and the wrist. Through extensive automated pick-and-place tests, we show the grasping robustness closely mirrors an est","authors_text":"Josie Hughes, Kai Junge","cross_cats":[],"headline":"","license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-08T07:51:20Z","title":"Robust Anthropomorphic Robotic Manipulation through Biomimetic Distributed Compliance"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.05262","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:d9a1c83ad9b35a46c46921da24f74024a1e84a46f63dceb3fef36a46bd791ef7","target":"record","created_at":"2026-07-05T08:07:37Z","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":"d969130124e62950d518f00795a163f361cd963d502c6c604056587dd9e516d4","cross_cats_sorted":[],"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-08T07:51:20Z","title_canon_sha256":"d3c04c3886ded611357f8424d141af75d6d32e952f3116834f75d93320767b78"},"schema_version":"1.0","source":{"id":"2404.05262","kind":"arxiv","version":2}},"canonical_sha256":"5ba391ff3dfb5cff01bdb3857400712cc41e6ad34371521eb4aba52e44048fad","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5ba391ff3dfb5cff01bdb3857400712cc41e6ad34371521eb4aba52e44048fad","first_computed_at":"2026-07-05T08:07:37.067073Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:07:37.067073Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2nP8b9MWJu1AiGW45Tu/hHPrJvi9pRsdu8C5CCBcHy92/ockV6gaL4lOCqDxoYy++/MDHFl5WIb3GoUHnWdLCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:07:37.067576Z","signed_message":"canonical_sha256_bytes"},"source_id":"2404.05262","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d9a1c83ad9b35a46c46921da24f74024a1e84a46f63dceb3fef36a46bd791ef7","sha256:afe480ea82c9bea2c493cfcbee6a512c51b206d7d517cead08da7c7011305e43"],"state_sha256":"fa602881abcd349e9fe28b4a6cf9aa76341b19b9bfc4e513ab71303e77759a00"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YPuqPD8fxxFt1sdiH8rA+Fp3oJrjGzveVMGZZvyweZ7Jf/o8cnMC7Qy6AvTliPVKBEtcyRmcmRluz+7j6SnyBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-22T18:03:44.380640Z","bundle_sha256":"b4bab7412462570b41a1b2e3b70dfe922cc9dc29d6a4ce20e685f0363dfa70b9"}}