{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:OJJSUTNQ7KRNOHJQX3ST5BWHQN","short_pith_number":"pith:OJJSUTNQ","canonical_record":{"source":{"id":"2012.05412","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-12-10T02:12:31Z","cross_cats_sorted":[],"title_canon_sha256":"918612facf209de92d59ff9b96f06ccd09eca4b678249978f190e4cf88ab24ed","abstract_canon_sha256":"3e04ff5b0989d6efde3e7df522a5bbc4c53050e671b8736dddbba9beecb02754"},"schema_version":"1.0"},"canonical_sha256":"72532a4db0faa2d71d30bee53e86c78344a457fe35554530334b005a0b44aea9","source":{"kind":"arxiv","id":"2012.05412","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2012.05412","created_at":"2026-07-05T03:23:38Z"},{"alias_kind":"arxiv_version","alias_value":"2012.05412v2","created_at":"2026-07-05T03:23:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2012.05412","created_at":"2026-07-05T03:23:38Z"},{"alias_kind":"pith_short_12","alias_value":"OJJSUTNQ7KRN","created_at":"2026-07-05T03:23:38Z"},{"alias_kind":"pith_short_16","alias_value":"OJJSUTNQ7KRNOHJQ","created_at":"2026-07-05T03:23:38Z"},{"alias_kind":"pith_short_8","alias_value":"OJJSUTNQ","created_at":"2026-07-05T03:23:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:OJJSUTNQ7KRNOHJQX3ST5BWHQN","target":"record","payload":{"canonical_record":{"source":{"id":"2012.05412","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-12-10T02:12:31Z","cross_cats_sorted":[],"title_canon_sha256":"918612facf209de92d59ff9b96f06ccd09eca4b678249978f190e4cf88ab24ed","abstract_canon_sha256":"3e04ff5b0989d6efde3e7df522a5bbc4c53050e671b8736dddbba9beecb02754"},"schema_version":"1.0"},"canonical_sha256":"72532a4db0faa2d71d30bee53e86c78344a457fe35554530334b005a0b44aea9","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:23:38.114303Z","signature_b64":"ROcpaOaqRR4XPzOX7PtOCPeSxELFEbhEN7A8rdrct4kHjQzGRdjK7pKMN8ekfaAvB4g3Qw3Otv9sna0hwWnUBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"72532a4db0faa2d71d30bee53e86c78344a457fe35554530334b005a0b44aea9","last_reissued_at":"2026-07-05T03:23:38.113892Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:23:38.113892Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2012.05412","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":"2026-07-05T03:23:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Qg6IRTmorYjW4BLRxSIk2PW+ETS3W2Uo7YK7VSUvaRl7aQ8szlGT6/YUvg2DIhBf5HEiDjNA9uFdopTamI5PDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T07:12:48.737063Z"},"content_sha256":"ad8d3c23158cc584cb66951438730609b2376f26aaca3422d41bde8ee7bff326","schema_version":"1.0","event_id":"sha256:ad8d3c23158cc584cb66951438730609b2376f26aaca3422d41bde8ee7bff326"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:OJJSUTNQ7KRNOHJQX3ST5BWHQN","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"LaSeSOM: A Latent and Semantic Representation Framework for Soft Object Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"David Navarro-Alarcon, Jihong Zhu, Peng Zhou, Shengzeng Huo","submitted_at":"2020-12-10T02:12:31Z","abstract_excerpt":"Soft object manipulation has recently gained popularity within the robotics community due to its potential applications in many economically important areas. Although great progress has been recently achieved in these types of tasks, most state-of-the-art methods are case-specific; They can only be used to perform a single deformation task (e.g. bending), as their shape representation algorithms typically rely on \"hard-coded\" features. In this paper, we present LaSeSOM, a new feedback latent representation framework for semantic soft object manipulation. Our new method introduces internal late"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2012.05412","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/2012.05412/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":"2026-07-05T03:23:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0ZiFNxBbKCAmfdUdFy/WEpRrIlTI+6MnMD5FMzNNAbbxJY40BTCE6cATAJhlqiqgGq0Hi/AjgGQwDdVFyD9wDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T07:12:48.737442Z"},"content_sha256":"175f59d4b7eeab7d6d2979f66192b86422f59802faeae0229c61afcbcdaa00f1","schema_version":"1.0","event_id":"sha256:175f59d4b7eeab7d6d2979f66192b86422f59802faeae0229c61afcbcdaa00f1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/OJJSUTNQ7KRNOHJQX3ST5BWHQN/bundle.json","state_url":"https://pith.science/pith/OJJSUTNQ7KRNOHJQX3ST5BWHQN/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/OJJSUTNQ7KRNOHJQX3ST5BWHQN/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":"2026-08-01T07:12:48Z","links":{"resolver":"https://pith.science/pith/OJJSUTNQ7KRNOHJQX3ST5BWHQN","bundle":"https://pith.science/pith/OJJSUTNQ7KRNOHJQX3ST5BWHQN/bundle.json","state":"https://pith.science/pith/OJJSUTNQ7KRNOHJQX3ST5BWHQN/state.json","well_known_bundle":"https://pith.science/.well-known/pith/OJJSUTNQ7KRNOHJQX3ST5BWHQN/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:OJJSUTNQ7KRNOHJQX3ST5BWHQN","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":"3e04ff5b0989d6efde3e7df522a5bbc4c53050e671b8736dddbba9beecb02754","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-12-10T02:12:31Z","title_canon_sha256":"918612facf209de92d59ff9b96f06ccd09eca4b678249978f190e4cf88ab24ed"},"schema_version":"1.0","source":{"id":"2012.05412","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2012.05412","created_at":"2026-07-05T03:23:38Z"},{"alias_kind":"arxiv_version","alias_value":"2012.05412v2","created_at":"2026-07-05T03:23:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2012.05412","created_at":"2026-07-05T03:23:38Z"},{"alias_kind":"pith_short_12","alias_value":"OJJSUTNQ7KRN","created_at":"2026-07-05T03:23:38Z"},{"alias_kind":"pith_short_16","alias_value":"OJJSUTNQ7KRNOHJQ","created_at":"2026-07-05T03:23:38Z"},{"alias_kind":"pith_short_8","alias_value":"OJJSUTNQ","created_at":"2026-07-05T03:23:38Z"}],"graph_snapshots":[{"event_id":"sha256:175f59d4b7eeab7d6d2979f66192b86422f59802faeae0229c61afcbcdaa00f1","target":"graph","created_at":"2026-07-05T03:23:38Z","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/2012.05412/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Soft object manipulation has recently gained popularity within the robotics community due to its potential applications in many economically important areas. Although great progress has been recently achieved in these types of tasks, most state-of-the-art methods are case-specific; They can only be used to perform a single deformation task (e.g. bending), as their shape representation algorithms typically rely on \"hard-coded\" features. In this paper, we present LaSeSOM, a new feedback latent representation framework for semantic soft object manipulation. Our new method introduces internal late","authors_text":"David Navarro-Alarcon, Jihong Zhu, Peng Zhou, Shengzeng Huo","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-12-10T02:12:31Z","title":"LaSeSOM: A Latent and Semantic Representation Framework for Soft Object Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2012.05412","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:ad8d3c23158cc584cb66951438730609b2376f26aaca3422d41bde8ee7bff326","target":"record","created_at":"2026-07-05T03:23:38Z","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":"3e04ff5b0989d6efde3e7df522a5bbc4c53050e671b8736dddbba9beecb02754","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-12-10T02:12:31Z","title_canon_sha256":"918612facf209de92d59ff9b96f06ccd09eca4b678249978f190e4cf88ab24ed"},"schema_version":"1.0","source":{"id":"2012.05412","kind":"arxiv","version":2}},"canonical_sha256":"72532a4db0faa2d71d30bee53e86c78344a457fe35554530334b005a0b44aea9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"72532a4db0faa2d71d30bee53e86c78344a457fe35554530334b005a0b44aea9","first_computed_at":"2026-07-05T03:23:38.113892Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:23:38.113892Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ROcpaOaqRR4XPzOX7PtOCPeSxELFEbhEN7A8rdrct4kHjQzGRdjK7pKMN8ekfaAvB4g3Qw3Otv9sna0hwWnUBw==","signature_status":"signed_v1","signed_at":"2026-07-05T03:23:38.114303Z","signed_message":"canonical_sha256_bytes"},"source_id":"2012.05412","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ad8d3c23158cc584cb66951438730609b2376f26aaca3422d41bde8ee7bff326","sha256:175f59d4b7eeab7d6d2979f66192b86422f59802faeae0229c61afcbcdaa00f1"],"state_sha256":"4f10ce32ac2f739b573ae5d992ab995af8820f34542bc744c1bfa588f69bfd6b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/U/PXPj8+ReSrsEYtrRflWJav6PZhuflKuLJ10LcvSTAoGrH9wXZRmoIaiJkwsl0KmdT+nJZT4Ynj5Rg0/29DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-01T07:12:48.739996Z","bundle_sha256":"243a04a78d55bbeec06175ab42e85126a034b07d8eb7138ca9ff7e76ec1264c7"}}