{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:MBT3F5VEKXXKWE6FZDYFKELQSD","short_pith_number":"pith:MBT3F5VE","canonical_record":{"source":{"id":"2406.09332","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-13T17:14:17Z","cross_cats_sorted":[],"title_canon_sha256":"4917d114443584a86cd7579ce95fbdcc4969aff245bc556009bfad8e6b143c9d","abstract_canon_sha256":"a565334c8a56e1d7765f79fc151460e3f5bb3e0f0ee6c1409f243342e3dbc063"},"schema_version":"1.0"},"canonical_sha256":"6067b2f6a455eeab13c5c8f055117090e5f5fec927e33be7a68a6d16fe949db5","source":{"kind":"arxiv","id":"2406.09332","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.09332","created_at":"2026-07-05T10:54:33Z"},{"alias_kind":"arxiv_version","alias_value":"2406.09332v2","created_at":"2026-07-05T10:54:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.09332","created_at":"2026-07-05T10:54:33Z"},{"alias_kind":"pith_short_12","alias_value":"MBT3F5VEKXXK","created_at":"2026-07-05T10:54:33Z"},{"alias_kind":"pith_short_16","alias_value":"MBT3F5VEKXXKWE6F","created_at":"2026-07-05T10:54:33Z"},{"alias_kind":"pith_short_8","alias_value":"MBT3F5VE","created_at":"2026-07-05T10:54:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:MBT3F5VEKXXKWE6FZDYFKELQSD","target":"record","payload":{"canonical_record":{"source":{"id":"2406.09332","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-13T17:14:17Z","cross_cats_sorted":[],"title_canon_sha256":"4917d114443584a86cd7579ce95fbdcc4969aff245bc556009bfad8e6b143c9d","abstract_canon_sha256":"a565334c8a56e1d7765f79fc151460e3f5bb3e0f0ee6c1409f243342e3dbc063"},"schema_version":"1.0"},"canonical_sha256":"6067b2f6a455eeab13c5c8f055117090e5f5fec927e33be7a68a6d16fe949db5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:54:33.991919Z","signature_b64":"j4tjIsUEXJEuxLpjrxWEbnJiELvmit+iezcxbOtKefqCj/7E1r16DajbvKS5M+6vEyAr29FmBST0cjGEJ8g8DA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6067b2f6a455eeab13c5c8f055117090e5f5fec927e33be7a68a6d16fe949db5","last_reissued_at":"2026-07-05T10:54:33.991442Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:54:33.991442Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2406.09332","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":"2026-07-05T10:54:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Vawcb+RbjNB/Gu9Zw0pMPVF4/zGVc8CBHOjoAnl7xsDZwqXDyTpfHGjK82EUzPC1HpSjaTDwjm2PkfsXCEtMAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T13:14:13.876633Z"},"content_sha256":"7c60e19ff1383c6d1966a7b7a79b0a6ac58e1a47bd2142564eda90eb668abd34","schema_version":"1.0","event_id":"sha256:7c60e19ff1383c6d1966a7b7a79b0a6ac58e1a47bd2142564eda90eb668abd34"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:MBT3F5VEKXXKWE6FZDYFKELQSD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"RoTipBot: Robotic Handling of Thin and Flexible Objects using Rotatable Tactile Sensors","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Daniel Fernandes Gomes, Jiaqi Jiang, Shan Luo, Thanh-Toan Do, Xuyang Zhang","submitted_at":"2024-06-13T17:14:17Z","abstract_excerpt":"This paper introduces RoTipBot, a novel robotic system for handling thin, flexible objects. Different from previous works that are limited to singulating them using suction cups or soft grippers, RoTipBot can count multiple layers and then grasp them simultaneously in a single grasp closure. Specifically, we first develop a vision-based tactile sensor named RoTip that can rotate and sense contact information around its tip. Equipped with two RoTip sensors, RoTipBot rolls and feeds multiple layers of thin, flexible objects into the centre between its fingers, enabling effective grasping. Moreov"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.09332","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/2406.09332/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":"2026-07-05T10:54:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vjQ/xXV9UV3jiQ4SRBt1DDRueokAxQo0lRXa6qlRtOXXKYwRv3ZVK00lOxfWgznPHOFZWKJGCx77L8GbbvsyBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T13:14:13.877161Z"},"content_sha256":"f416b25ed9aa2d80d74d57f68f22ef6b0785b0f919749a9db1e3bb91e4d32109","schema_version":"1.0","event_id":"sha256:f416b25ed9aa2d80d74d57f68f22ef6b0785b0f919749a9db1e3bb91e4d32109"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MBT3F5VEKXXKWE6FZDYFKELQSD/bundle.json","state_url":"https://pith.science/pith/MBT3F5VEKXXKWE6FZDYFKELQSD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MBT3F5VEKXXKWE6FZDYFKELQSD/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":"2026-08-13T13:14:13Z","links":{"resolver":"https://pith.science/pith/MBT3F5VEKXXKWE6FZDYFKELQSD","bundle":"https://pith.science/pith/MBT3F5VEKXXKWE6FZDYFKELQSD/bundle.json","state":"https://pith.science/pith/MBT3F5VEKXXKWE6FZDYFKELQSD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MBT3F5VEKXXKWE6FZDYFKELQSD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:MBT3F5VEKXXKWE6FZDYFKELQSD","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":"a565334c8a56e1d7765f79fc151460e3f5bb3e0f0ee6c1409f243342e3dbc063","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-13T17:14:17Z","title_canon_sha256":"4917d114443584a86cd7579ce95fbdcc4969aff245bc556009bfad8e6b143c9d"},"schema_version":"1.0","source":{"id":"2406.09332","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.09332","created_at":"2026-07-05T10:54:33Z"},{"alias_kind":"arxiv_version","alias_value":"2406.09332v2","created_at":"2026-07-05T10:54:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.09332","created_at":"2026-07-05T10:54:33Z"},{"alias_kind":"pith_short_12","alias_value":"MBT3F5VEKXXK","created_at":"2026-07-05T10:54:33Z"},{"alias_kind":"pith_short_16","alias_value":"MBT3F5VEKXXKWE6F","created_at":"2026-07-05T10:54:33Z"},{"alias_kind":"pith_short_8","alias_value":"MBT3F5VE","created_at":"2026-07-05T10:54:33Z"}],"graph_snapshots":[{"event_id":"sha256:f416b25ed9aa2d80d74d57f68f22ef6b0785b0f919749a9db1e3bb91e4d32109","target":"graph","created_at":"2026-07-05T10:54:33Z","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/2406.09332/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper introduces RoTipBot, a novel robotic system for handling thin, flexible objects. Different from previous works that are limited to singulating them using suction cups or soft grippers, RoTipBot can count multiple layers and then grasp them simultaneously in a single grasp closure. Specifically, we first develop a vision-based tactile sensor named RoTip that can rotate and sense contact information around its tip. Equipped with two RoTip sensors, RoTipBot rolls and feeds multiple layers of thin, flexible objects into the centre between its fingers, enabling effective grasping. Moreov","authors_text":"Daniel Fernandes Gomes, Jiaqi Jiang, Shan Luo, Thanh-Toan Do, Xuyang Zhang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-13T17:14:17Z","title":"RoTipBot: Robotic Handling of Thin and Flexible Objects using Rotatable Tactile Sensors"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.09332","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":"sha256:7c60e19ff1383c6d1966a7b7a79b0a6ac58e1a47bd2142564eda90eb668abd34","target":"record","created_at":"2026-07-05T10:54:33Z","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":"a565334c8a56e1d7765f79fc151460e3f5bb3e0f0ee6c1409f243342e3dbc063","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-13T17:14:17Z","title_canon_sha256":"4917d114443584a86cd7579ce95fbdcc4969aff245bc556009bfad8e6b143c9d"},"schema_version":"1.0","source":{"id":"2406.09332","kind":"arxiv","version":2}},"canonical_sha256":"6067b2f6a455eeab13c5c8f055117090e5f5fec927e33be7a68a6d16fe949db5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6067b2f6a455eeab13c5c8f055117090e5f5fec927e33be7a68a6d16fe949db5","first_computed_at":"2026-07-05T10:54:33.991442Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:54:33.991442Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"j4tjIsUEXJEuxLpjrxWEbnJiELvmit+iezcxbOtKefqCj/7E1r16DajbvKS5M+6vEyAr29FmBST0cjGEJ8g8DA==","signature_status":"signed_v1","signed_at":"2026-07-05T10:54:33.991919Z","signed_message":"canonical_sha256_bytes"},"source_id":"2406.09332","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7c60e19ff1383c6d1966a7b7a79b0a6ac58e1a47bd2142564eda90eb668abd34","sha256:f416b25ed9aa2d80d74d57f68f22ef6b0785b0f919749a9db1e3bb91e4d32109"],"state_sha256":"76bdbcbecb4839a3d345b1a0ebd2d8dc0ddfd2c4fead01515b3afb946d39cbc9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TyWvGx9gz+8zBYoJRpXLOG+H9zBcGd54r/tYSvxib4Rsm6j4qx5ZJXvA1dJaGTMV+pek7niiJdd68p5lOiT3CA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-13T13:14:13.884485Z","bundle_sha256":"a4ae5cafe7d3de8388a44ea2a98abd6a27e63edc0b79ee9c8de20882d1a891c8"}}