{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:NXFII66ITS3F4SRCAJPH44E5D4","short_pith_number":"pith:NXFII66I","canonical_record":{"source":{"id":"2403.04067","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-06T21:37:17Z","cross_cats_sorted":[],"title_canon_sha256":"6d8cd74ae2bd76afa2a7f902db4b26e6ca36bfa7d57f87f533565b6d9eaef9ad","abstract_canon_sha256":"fa43fac48cad118af90c43614f12336f60bdb984613a2b497f3f531673739a92"},"schema_version":"1.0"},"canonical_sha256":"6dca847bc89cb65e4a22025e7e709d1f3d668975e10e5f39cb02cf10ac376150","source":{"kind":"arxiv","id":"2403.04067","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.04067","created_at":"2026-07-05T07:53:17Z"},{"alias_kind":"arxiv_version","alias_value":"2403.04067v1","created_at":"2026-07-05T07:53:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.04067","created_at":"2026-07-05T07:53:17Z"},{"alias_kind":"pith_short_12","alias_value":"NXFII66ITS3F","created_at":"2026-07-05T07:53:17Z"},{"alias_kind":"pith_short_16","alias_value":"NXFII66ITS3F4SRC","created_at":"2026-07-05T07:53:17Z"},{"alias_kind":"pith_short_8","alias_value":"NXFII66I","created_at":"2026-07-05T07:53:17Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:NXFII66ITS3F4SRCAJPH44E5D4","target":"record","payload":{"canonical_record":{"source":{"id":"2403.04067","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-06T21:37:17Z","cross_cats_sorted":[],"title_canon_sha256":"6d8cd74ae2bd76afa2a7f902db4b26e6ca36bfa7d57f87f533565b6d9eaef9ad","abstract_canon_sha256":"fa43fac48cad118af90c43614f12336f60bdb984613a2b497f3f531673739a92"},"schema_version":"1.0"},"canonical_sha256":"6dca847bc89cb65e4a22025e7e709d1f3d668975e10e5f39cb02cf10ac376150","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:53:17.897682Z","signature_b64":"kCCKu5nqMxq1S6o9yD5t5zVS7UtsFjLyoLE+zRx3SKDM9aLN96V+dKxmnojZC7ENoQ2C77qaidxPJcqhxn2PDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6dca847bc89cb65e4a22025e7e709d1f3d668975e10e5f39cb02cf10ac376150","last_reissued_at":"2026-07-05T07:53:17.897276Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:53:17.897276Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.04067","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":"2026-07-05T07:53:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qO6bToHrhoxduikDQ+HXDx6bd2NwHa/ISPs9JiF44RtTwKUY5ZrunWCXZE0t0IqWAIe4WJ2Z/Vyc9mvfvsZdAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T13:39:51.852893Z"},"content_sha256":"39e909b14c7c16825a91bb55e1083d23764d457bd3a73fae5842d814a035246e","schema_version":"1.0","event_id":"sha256:39e909b14c7c16825a91bb55e1083d23764d457bd3a73fae5842d814a035246e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:NXFII66ITS3F4SRCAJPH44E5D4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Feel the Bite: Robot-Assisted Inside-Mouth Bite Transfer using Robust Mouth Perception and Physical Interaction-Aware Control","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Abrar Anwar, Daniel Stabile, Katherine Dimitropoulou, Rajat Kumar Jenamani, Tapomayukh Bhattacharjee, Ziang Liu","submitted_at":"2024-03-06T21:37:17Z","abstract_excerpt":"Robot-assisted feeding can greatly enhance the lives of those with mobility limitations. Modern feeding systems can pick up and position food in front of a care recipient's mouth for a bite. However, many with severe mobility constraints cannot lean forward and need direct inside-mouth food placement. This demands precision, especially for those with restricted mouth openings, and appropriately reacting to various physical interactions - incidental contacts as the utensil moves inside, impulsive contacts due to sudden muscle spasms, deliberate tongue maneuvers by the person being fed to guide "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.04067","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/2403.04067/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":"2026-07-05T07:53:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IKXLy6kSiRvb9q0nvynZti6Mnujtj7cMa32dhLX64MLVx9FPFYgTZujq4UcXpgHytIZ2zxDafcb6gbkMUuybBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T13:39:51.853230Z"},"content_sha256":"c32794c31e29215ca67f7df1a6bc669e42e77fb969cc122002a6a5aca0b0eda9","schema_version":"1.0","event_id":"sha256:c32794c31e29215ca67f7df1a6bc669e42e77fb969cc122002a6a5aca0b0eda9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/NXFII66ITS3F4SRCAJPH44E5D4/bundle.json","state_url":"https://pith.science/pith/NXFII66ITS3F4SRCAJPH44E5D4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/NXFII66ITS3F4SRCAJPH44E5D4/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":"2026-08-19T13:39:51Z","links":{"resolver":"https://pith.science/pith/NXFII66ITS3F4SRCAJPH44E5D4","bundle":"https://pith.science/pith/NXFII66ITS3F4SRCAJPH44E5D4/bundle.json","state":"https://pith.science/pith/NXFII66ITS3F4SRCAJPH44E5D4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/NXFII66ITS3F4SRCAJPH44E5D4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:NXFII66ITS3F4SRCAJPH44E5D4","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":"fa43fac48cad118af90c43614f12336f60bdb984613a2b497f3f531673739a92","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-06T21:37:17Z","title_canon_sha256":"6d8cd74ae2bd76afa2a7f902db4b26e6ca36bfa7d57f87f533565b6d9eaef9ad"},"schema_version":"1.0","source":{"id":"2403.04067","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.04067","created_at":"2026-07-05T07:53:17Z"},{"alias_kind":"arxiv_version","alias_value":"2403.04067v1","created_at":"2026-07-05T07:53:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.04067","created_at":"2026-07-05T07:53:17Z"},{"alias_kind":"pith_short_12","alias_value":"NXFII66ITS3F","created_at":"2026-07-05T07:53:17Z"},{"alias_kind":"pith_short_16","alias_value":"NXFII66ITS3F4SRC","created_at":"2026-07-05T07:53:17Z"},{"alias_kind":"pith_short_8","alias_value":"NXFII66I","created_at":"2026-07-05T07:53:17Z"}],"graph_snapshots":[{"event_id":"sha256:c32794c31e29215ca67f7df1a6bc669e42e77fb969cc122002a6a5aca0b0eda9","target":"graph","created_at":"2026-07-05T07:53:17Z","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/2403.04067/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robot-assisted feeding can greatly enhance the lives of those with mobility limitations. Modern feeding systems can pick up and position food in front of a care recipient's mouth for a bite. However, many with severe mobility constraints cannot lean forward and need direct inside-mouth food placement. This demands precision, especially for those with restricted mouth openings, and appropriately reacting to various physical interactions - incidental contacts as the utensil moves inside, impulsive contacts due to sudden muscle spasms, deliberate tongue maneuvers by the person being fed to guide ","authors_text":"Abrar Anwar, Daniel Stabile, Katherine Dimitropoulou, Rajat Kumar Jenamani, Tapomayukh Bhattacharjee, Ziang Liu","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-06T21:37:17Z","title":"Feel the Bite: Robot-Assisted Inside-Mouth Bite Transfer using Robust Mouth Perception and Physical Interaction-Aware Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.04067","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":"sha256:39e909b14c7c16825a91bb55e1083d23764d457bd3a73fae5842d814a035246e","target":"record","created_at":"2026-07-05T07:53:17Z","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":"fa43fac48cad118af90c43614f12336f60bdb984613a2b497f3f531673739a92","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-06T21:37:17Z","title_canon_sha256":"6d8cd74ae2bd76afa2a7f902db4b26e6ca36bfa7d57f87f533565b6d9eaef9ad"},"schema_version":"1.0","source":{"id":"2403.04067","kind":"arxiv","version":1}},"canonical_sha256":"6dca847bc89cb65e4a22025e7e709d1f3d668975e10e5f39cb02cf10ac376150","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6dca847bc89cb65e4a22025e7e709d1f3d668975e10e5f39cb02cf10ac376150","first_computed_at":"2026-07-05T07:53:17.897276Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:53:17.897276Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"kCCKu5nqMxq1S6o9yD5t5zVS7UtsFjLyoLE+zRx3SKDM9aLN96V+dKxmnojZC7ENoQ2C77qaidxPJcqhxn2PDg==","signature_status":"signed_v1","signed_at":"2026-07-05T07:53:17.897682Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.04067","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:39e909b14c7c16825a91bb55e1083d23764d457bd3a73fae5842d814a035246e","sha256:c32794c31e29215ca67f7df1a6bc669e42e77fb969cc122002a6a5aca0b0eda9"],"state_sha256":"3c924456434b9c68438ad82a2399bb17d86351e2c6de0db2e7939fa28daa8809"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"z+LMtXr1b+3/ydPOpWTwa23P9LWErRC6+Y6Kis1ePrLsc2AjliQfQ6p3/MFBL4VJOuQMWQNIxrLUHdna4Ct2Ag==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-19T13:39:51.857372Z","bundle_sha256":"43d09f420fd37d1a74082f0e00899efe3e027ae951eec98bdf79a322c05197e2"}}