{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2017:N6EEFJ546P6MKSVVUVBDKDOR7R","short_pith_number":"pith:N6EEFJ54","schema_version":"1.0","canonical_sha256":"6f8842a7bcf3fcc54ab5a542350dd1fc4111e6545dfa2242eebbe9712e3e6245","source":{"kind":"arxiv","id":"1702.08695","version":2},"attestation_state":"computed","paper":{"title":"Online Robot Introspection via Wrench-based Action Grammars","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dingqiao Zhu, Hongbin Lin, Juan Rojas, Kensuke Harada, Shuangqi Luo, Wenwei Kuang, Yunlong Du, Zhengjie Huang","submitted_at":"2017-02-28T08:48:45Z","abstract_excerpt":"Robotic failure is all too common in unstructured robot tasks. Despite well-designed controllers, robots often fail due to unexpected events. How do robots measure unexpected events? Many do not. Most robots are driven by the sense-plan act paradigm, however more recently robots are undergoing a sense-plan-act-verify paradigm. In this work, we present a principled methodology to bootstrap online robot introspection for contact tasks. In effect, we are trying to enable the robot to answer the question: what did I do? Is my behavior as expected or not? To this end, we analyze noisy wrench data a"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1702.08695","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-02-28T08:48:45Z","cross_cats_sorted":[],"title_canon_sha256":"7bb4ed06d47e8331d237d111781f13843cc1dc238e3cf7b635c7240361b6b175","abstract_canon_sha256":"662d9d385d2e91c0d5d4f51041be2ed8c7629b01bbffbdef7fac033c4c08a080"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:27:52.775141Z","signature_b64":"HBa8ZUQUm96DAp0XBFYTcRLiO5Vvf9xFRjC9bUoyLhZ3ZHLvOaHtyqKYAtKTxCfGPKqKN+7YqcDk9v1Vin1mAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6f8842a7bcf3fcc54ab5a542350dd1fc4111e6545dfa2242eebbe9712e3e6245","last_reissued_at":"2026-05-18T00:27:52.774694Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:27:52.774694Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Online Robot Introspection via Wrench-based Action Grammars","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dingqiao Zhu, Hongbin Lin, Juan Rojas, Kensuke Harada, Shuangqi Luo, Wenwei Kuang, Yunlong Du, Zhengjie Huang","submitted_at":"2017-02-28T08:48:45Z","abstract_excerpt":"Robotic failure is all too common in unstructured robot tasks. Despite well-designed controllers, robots often fail due to unexpected events. How do robots measure unexpected events? Many do not. Most robots are driven by the sense-plan act paradigm, however more recently robots are undergoing a sense-plan-act-verify paradigm. In this work, we present a principled methodology to bootstrap online robot introspection for contact tasks. In effect, we are trying to enable the robot to answer the question: what did I do? Is my behavior as expected or not? To this end, we analyze noisy wrench data a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1702.08695","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":""},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1702.08695","created_at":"2026-05-18T00:27:52.774748+00:00"},{"alias_kind":"arxiv_version","alias_value":"1702.08695v2","created_at":"2026-05-18T00:27:52.774748+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1702.08695","created_at":"2026-05-18T00:27:52.774748+00:00"},{"alias_kind":"pith_short_12","alias_value":"N6EEFJ546P6M","created_at":"2026-05-18T12:31:31.346846+00:00"},{"alias_kind":"pith_short_16","alias_value":"N6EEFJ546P6MKSVV","created_at":"2026-05-18T12:31:31.346846+00:00"},{"alias_kind":"pith_short_8","alias_value":"N6EEFJ54","created_at":"2026-05-18T12:31:31.346846+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/N6EEFJ546P6MKSVVUVBDKDOR7R","json":"https://pith.science/pith/N6EEFJ546P6MKSVVUVBDKDOR7R.json","graph_json":"https://pith.science/api/pith-number/N6EEFJ546P6MKSVVUVBDKDOR7R/graph.json","events_json":"https://pith.science/api/pith-number/N6EEFJ546P6MKSVVUVBDKDOR7R/events.json","paper":"https://pith.science/paper/N6EEFJ54"},"agent_actions":{"view_html":"https://pith.science/pith/N6EEFJ546P6MKSVVUVBDKDOR7R","download_json":"https://pith.science/pith/N6EEFJ546P6MKSVVUVBDKDOR7R.json","view_paper":"https://pith.science/paper/N6EEFJ54","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1702.08695&json=true","fetch_graph":"https://pith.science/api/pith-number/N6EEFJ546P6MKSVVUVBDKDOR7R/graph.json","fetch_events":"https://pith.science/api/pith-number/N6EEFJ546P6MKSVVUVBDKDOR7R/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/N6EEFJ546P6MKSVVUVBDKDOR7R/action/timestamp_anchor","attest_storage":"https://pith.science/pith/N6EEFJ546P6MKSVVUVBDKDOR7R/action/storage_attestation","attest_author":"https://pith.science/pith/N6EEFJ546P6MKSVVUVBDKDOR7R/action/author_attestation","sign_citation":"https://pith.science/pith/N6EEFJ546P6MKSVVUVBDKDOR7R/action/citation_signature","submit_replication":"https://pith.science/pith/N6EEFJ546P6MKSVVUVBDKDOR7R/action/replication_record"}},"created_at":"2026-05-18T00:27:52.774748+00:00","updated_at":"2026-05-18T00:27:52.774748+00:00"}