{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2018:NYL2KIKW5PAXAPXRVAAESKNMTS","short_pith_number":"pith:NYL2KIKW","schema_version":"1.0","canonical_sha256":"6e17a52156ebc1703ef1a8004929ac9c86cc6306f6d5c9bc12968ef83578ddb2","source":{"kind":"arxiv","id":"1811.11050","version":5},"attestation_state":"computed","paper":{"title":"Geometry-aware Manipulability Learning, Tracking and Transfer","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Darwin G. Caldwell, Leonel Rozo, No\\'emie Jaquier, Sylvain Calinon","submitted_at":"2018-11-27T15:20:09Z","abstract_excerpt":"Body posture influences human and robots performance in manipulation tasks, as appropriate poses facilitate motion or force exertion along different axes. In robotics, manipulability ellipsoids arise as a powerful descriptor to analyze, control and design the robot dexterity as a function of the articulatory joint configuration. This descriptor can be designed according to different task requirements, such as tracking a desired position or apply a specific force. In this context, this paper presents a novel \\emph{manipulability transfer} framework, a method that allows robots to learn and repr"},"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":"1811.11050","kind":"arxiv","version":5},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-11-27T15:20:09Z","cross_cats_sorted":[],"title_canon_sha256":"0dec6596ee1984eaf4893aadaa6f955d6ea2e8bc75c60925be82f531c045401b","abstract_canon_sha256":"762d616ec09ff0285eb7d18d73fb213b79f0244e95ba7974b3ffb99c2a261b9e"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:18:48.037890Z","signature_b64":"JKlrr1WBvxGx42vAERJaCRm49qRLIM7PIvjhdHw/Y5TXptuiRasYxzq5YH8W9rhyZkFFFFozCBs0PQbLHgSUCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6e17a52156ebc1703ef1a8004929ac9c86cc6306f6d5c9bc12968ef83578ddb2","last_reissued_at":"2026-07-05T02:18:48.037511Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:18:48.037511Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Geometry-aware Manipulability Learning, Tracking and Transfer","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Darwin G. Caldwell, Leonel Rozo, No\\'emie Jaquier, Sylvain Calinon","submitted_at":"2018-11-27T15:20:09Z","abstract_excerpt":"Body posture influences human and robots performance in manipulation tasks, as appropriate poses facilitate motion or force exertion along different axes. In robotics, manipulability ellipsoids arise as a powerful descriptor to analyze, control and design the robot dexterity as a function of the articulatory joint configuration. This descriptor can be designed according to different task requirements, such as tracking a desired position or apply a specific force. In this context, this paper presents a novel \\emph{manipulability transfer} framework, a method that allows robots to learn and repr"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1811.11050","kind":"arxiv","version":5},"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/1811.11050/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1811.11050","created_at":"2026-07-05T02:18:48.037569+00:00"},{"alias_kind":"arxiv_version","alias_value":"1811.11050v5","created_at":"2026-07-05T02:18:48.037569+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1811.11050","created_at":"2026-07-05T02:18:48.037569+00:00"},{"alias_kind":"pith_short_12","alias_value":"NYL2KIKW5PAX","created_at":"2026-07-05T02:18:48.037569+00:00"},{"alias_kind":"pith_short_16","alias_value":"NYL2KIKW5PAXAPXR","created_at":"2026-07-05T02:18:48.037569+00:00"},{"alias_kind":"pith_short_8","alias_value":"NYL2KIKW","created_at":"2026-07-05T02:18:48.037569+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/NYL2KIKW5PAXAPXRVAAESKNMTS","json":"https://pith.science/pith/NYL2KIKW5PAXAPXRVAAESKNMTS.json","graph_json":"https://pith.science/api/pith-number/NYL2KIKW5PAXAPXRVAAESKNMTS/graph.json","events_json":"https://pith.science/api/pith-number/NYL2KIKW5PAXAPXRVAAESKNMTS/events.json","paper":"https://pith.science/paper/NYL2KIKW"},"agent_actions":{"view_html":"https://pith.science/pith/NYL2KIKW5PAXAPXRVAAESKNMTS","download_json":"https://pith.science/pith/NYL2KIKW5PAXAPXRVAAESKNMTS.json","view_paper":"https://pith.science/paper/NYL2KIKW","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1811.11050&json=true","fetch_graph":"https://pith.science/api/pith-number/NYL2KIKW5PAXAPXRVAAESKNMTS/graph.json","fetch_events":"https://pith.science/api/pith-number/NYL2KIKW5PAXAPXRVAAESKNMTS/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/NYL2KIKW5PAXAPXRVAAESKNMTS/action/timestamp_anchor","attest_storage":"https://pith.science/pith/NYL2KIKW5PAXAPXRVAAESKNMTS/action/storage_attestation","attest_author":"https://pith.science/pith/NYL2KIKW5PAXAPXRVAAESKNMTS/action/author_attestation","sign_citation":"https://pith.science/pith/NYL2KIKW5PAXAPXRVAAESKNMTS/action/citation_signature","submit_replication":"https://pith.science/pith/NYL2KIKW5PAXAPXRVAAESKNMTS/action/replication_record"}},"created_at":"2026-07-05T02:18:48.037569+00:00","updated_at":"2026-07-05T02:18:48.037569+00:00"}