{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:N2LOTBZ6PUJCUODSYK7LDGFTUW","short_pith_number":"pith:N2LOTBZ6","canonical_record":{"source":{"id":"2504.14857","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-21T04:50:24Z","cross_cats_sorted":[],"title_canon_sha256":"67e2c651b6bd20166c88c1177c84115e48045c622452a45dd04f408d4a0c4c41","abstract_canon_sha256":"cca08bc4cc2dc7823896f657f31b4f3486148de883e39dc8e068fef32a936c54"},"schema_version":"1.0"},"canonical_sha256":"6e96e9873e7d122a3872c2beb198b3a5910fb3f71825e4223752ac7c82f83b2d","source":{"kind":"arxiv","id":"2504.14857","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.14857","created_at":"2026-07-05T10:51:51Z"},{"alias_kind":"arxiv_version","alias_value":"2504.14857v1","created_at":"2026-07-05T10:51:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.14857","created_at":"2026-07-05T10:51:51Z"},{"alias_kind":"pith_short_12","alias_value":"N2LOTBZ6PUJC","created_at":"2026-07-05T10:51:51Z"},{"alias_kind":"pith_short_16","alias_value":"N2LOTBZ6PUJCUODS","created_at":"2026-07-05T10:51:51Z"},{"alias_kind":"pith_short_8","alias_value":"N2LOTBZ6","created_at":"2026-07-05T10:51:51Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:N2LOTBZ6PUJCUODSYK7LDGFTUW","target":"record","payload":{"canonical_record":{"source":{"id":"2504.14857","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-21T04:50:24Z","cross_cats_sorted":[],"title_canon_sha256":"67e2c651b6bd20166c88c1177c84115e48045c622452a45dd04f408d4a0c4c41","abstract_canon_sha256":"cca08bc4cc2dc7823896f657f31b4f3486148de883e39dc8e068fef32a936c54"},"schema_version":"1.0"},"canonical_sha256":"6e96e9873e7d122a3872c2beb198b3a5910fb3f71825e4223752ac7c82f83b2d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:51:51.849508Z","signature_b64":"nuKqWkaOPJb3S8Q6iXe/HIp07eTOg3vsL6/Uw0gKJ3YY26+tVBoCZZ3yWC59Db9DauPMdl/5Hw80P5ShZYEpAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6e96e9873e7d122a3872c2beb198b3a5910fb3f71825e4223752ac7c82f83b2d","last_reissued_at":"2026-07-05T10:51:51.848961Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:51:51.848961Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2504.14857","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":"2026-07-05T10:51:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xbJMG5JOyvB8FWP9yu+5Zzoyfc5LNqYqLDKwe0UeBeuGt7ToTW2hh8q15Zs9a53EG1xSePLBpkM74cbUU7ndAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T08:02:37.700971Z"},"content_sha256":"ca5d2623477e1131129ae0d97bcf5014dc798e5b678ad63e8bf1c0cdaf8d4cb2","schema_version":"1.0","event_id":"sha256:ca5d2623477e1131129ae0d97bcf5014dc798e5b678ad63e8bf1c0cdaf8d4cb2"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:N2LOTBZ6PUJCUODSYK7LDGFTUW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SuFIA-BC: Generating High Quality Demonstration Data for Visuomotor Policy Learning in Surgical Subtasks","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Andres Diaz-Pinto, Animesh Garg, Ken Goldberg, Kush Hari, Mahdi Azizian, Masoud Moghani, Mohamed Ghanem, Nigel Nelson, Sean Huver","submitted_at":"2025-04-21T04:50:24Z","abstract_excerpt":"Behavior cloning facilitates the learning of dexterous manipulation skills, yet the complexity of surgical environments, the difficulty and expense of obtaining patient data, and robot calibration errors present unique challenges for surgical robot learning. We provide an enhanced surgical digital twin with photorealistic human anatomical organs, integrated into a comprehensive simulator designed to generate high-quality synthetic data to solve fundamental tasks in surgical autonomy. We present SuFIA-BC: visual Behavior Cloning policies for Surgical First Interactive Autonomy Assistants. We in"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.14857","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/2504.14857/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":"2026-07-05T10:51:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0wkVnwcVD/dckJ91rZm41eNBKoXHY7esFSOVe2yrcb3RFgrgRfddXDWeX2ZB9sT61/Ety21lNNzQ+UeNcLHRDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T08:02:37.701450Z"},"content_sha256":"d6418b21b1f7b5f0e1c348928c93925f142acba30472f5949f8899c099618f8b","schema_version":"1.0","event_id":"sha256:d6418b21b1f7b5f0e1c348928c93925f142acba30472f5949f8899c099618f8b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/N2LOTBZ6PUJCUODSYK7LDGFTUW/bundle.json","state_url":"https://pith.science/pith/N2LOTBZ6PUJCUODSYK7LDGFTUW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/N2LOTBZ6PUJCUODSYK7LDGFTUW/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":"2026-08-14T08:02:37Z","links":{"resolver":"https://pith.science/pith/N2LOTBZ6PUJCUODSYK7LDGFTUW","bundle":"https://pith.science/pith/N2LOTBZ6PUJCUODSYK7LDGFTUW/bundle.json","state":"https://pith.science/pith/N2LOTBZ6PUJCUODSYK7LDGFTUW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/N2LOTBZ6PUJCUODSYK7LDGFTUW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:N2LOTBZ6PUJCUODSYK7LDGFTUW","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":"cca08bc4cc2dc7823896f657f31b4f3486148de883e39dc8e068fef32a936c54","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-21T04:50:24Z","title_canon_sha256":"67e2c651b6bd20166c88c1177c84115e48045c622452a45dd04f408d4a0c4c41"},"schema_version":"1.0","source":{"id":"2504.14857","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.14857","created_at":"2026-07-05T10:51:51Z"},{"alias_kind":"arxiv_version","alias_value":"2504.14857v1","created_at":"2026-07-05T10:51:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.14857","created_at":"2026-07-05T10:51:51Z"},{"alias_kind":"pith_short_12","alias_value":"N2LOTBZ6PUJC","created_at":"2026-07-05T10:51:51Z"},{"alias_kind":"pith_short_16","alias_value":"N2LOTBZ6PUJCUODS","created_at":"2026-07-05T10:51:51Z"},{"alias_kind":"pith_short_8","alias_value":"N2LOTBZ6","created_at":"2026-07-05T10:51:51Z"}],"graph_snapshots":[{"event_id":"sha256:d6418b21b1f7b5f0e1c348928c93925f142acba30472f5949f8899c099618f8b","target":"graph","created_at":"2026-07-05T10:51:51Z","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/2504.14857/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Behavior cloning facilitates the learning of dexterous manipulation skills, yet the complexity of surgical environments, the difficulty and expense of obtaining patient data, and robot calibration errors present unique challenges for surgical robot learning. We provide an enhanced surgical digital twin with photorealistic human anatomical organs, integrated into a comprehensive simulator designed to generate high-quality synthetic data to solve fundamental tasks in surgical autonomy. We present SuFIA-BC: visual Behavior Cloning policies for Surgical First Interactive Autonomy Assistants. We in","authors_text":"Andres Diaz-Pinto, Animesh Garg, Ken Goldberg, Kush Hari, Mahdi Azizian, Masoud Moghani, Mohamed Ghanem, Nigel Nelson, Sean Huver","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-21T04:50:24Z","title":"SuFIA-BC: Generating High Quality Demonstration Data for Visuomotor Policy Learning in Surgical Subtasks"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.14857","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:ca5d2623477e1131129ae0d97bcf5014dc798e5b678ad63e8bf1c0cdaf8d4cb2","target":"record","created_at":"2026-07-05T10:51:51Z","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":"cca08bc4cc2dc7823896f657f31b4f3486148de883e39dc8e068fef32a936c54","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-21T04:50:24Z","title_canon_sha256":"67e2c651b6bd20166c88c1177c84115e48045c622452a45dd04f408d4a0c4c41"},"schema_version":"1.0","source":{"id":"2504.14857","kind":"arxiv","version":1}},"canonical_sha256":"6e96e9873e7d122a3872c2beb198b3a5910fb3f71825e4223752ac7c82f83b2d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6e96e9873e7d122a3872c2beb198b3a5910fb3f71825e4223752ac7c82f83b2d","first_computed_at":"2026-07-05T10:51:51.848961Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:51:51.848961Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"nuKqWkaOPJb3S8Q6iXe/HIp07eTOg3vsL6/Uw0gKJ3YY26+tVBoCZZ3yWC59Db9DauPMdl/5Hw80P5ShZYEpAg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:51:51.849508Z","signed_message":"canonical_sha256_bytes"},"source_id":"2504.14857","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ca5d2623477e1131129ae0d97bcf5014dc798e5b678ad63e8bf1c0cdaf8d4cb2","sha256:d6418b21b1f7b5f0e1c348928c93925f142acba30472f5949f8899c099618f8b"],"state_sha256":"a4ffbbadd0a64aa43a680ff0f48af1fc6083cef8541a7016e5f36fed2a2c0ad9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QJH4MrVF3BHXx7CJ6zTcu3H4oW2OX/PUxyo29J2PVjzva2zvHrcyPdGo3C3hh/gSUdiwy33VrUIlaxa0soR/AQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-14T08:02:37.706345Z","bundle_sha256":"72d6da04e9d2949f975e30232457109b8bb4ad12a6c579bf81ee1b3a37a6a10b"}}