{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:PDORXL62FIRQPCTZPXYQDCXTG7","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":"41444bd73122617cdbdc2f8cc97a43e7faf9ab258f118dd3baf71f5c673eed12","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-23T11:31:25Z","title_canon_sha256":"de6a6e450c95968291e1123724441ae819fc4cf23886116b0025658b836f3357"},"schema_version":"1.0","source":{"id":"2209.11530","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.11530","created_at":"2026-07-05T05:00:22Z"},{"alias_kind":"arxiv_version","alias_value":"2209.11530v1","created_at":"2026-07-05T05:00:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.11530","created_at":"2026-07-05T05:00:22Z"},{"alias_kind":"pith_short_12","alias_value":"PDORXL62FIRQ","created_at":"2026-07-05T05:00:22Z"},{"alias_kind":"pith_short_16","alias_value":"PDORXL62FIRQPCTZ","created_at":"2026-07-05T05:00:22Z"},{"alias_kind":"pith_short_8","alias_value":"PDORXL62","created_at":"2026-07-05T05:00:22Z"}],"graph_snapshots":[{"event_id":"sha256:5a0fb7487431c85015f5c9af21c28d17fe5bc6d0218e1311d705e6270857872b","target":"graph","created_at":"2026-07-05T05:00:22Z","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/2209.11530/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Many high precision (dis)assembly tasks are still being performed by humans, whereas this is an ideal opportunity for automation. This paper provides a framework which enables a non-expert human operator to teach a robotic arm to do complex precision tasks. The framework uses a variable Cartesian impedance controller to execute trajectories learned from kinesthetic human demonstrations. Feedback can be given to interactively reshape or speed up the original demonstration. Board localization is done through a visual estimation of the task board position and refined through haptic feedback. Our ","authors_text":"Giovanni Franzese, Jens Kober, Jeroen Zwanepol, Mariano Ramirez Montero","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-23T11:31:25Z","title":"Solving Robot Assembly Tasks by Combining Interactive Teaching and Self-Exploration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.11530","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":"sha256:3e6c5943ae275b05de510957bab7a8594a69e6ef6c38e84ca00760de5e7f7b2b","target":"record","created_at":"2026-07-05T05:00:22Z","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":"41444bd73122617cdbdc2f8cc97a43e7faf9ab258f118dd3baf71f5c673eed12","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-23T11:31:25Z","title_canon_sha256":"de6a6e450c95968291e1123724441ae819fc4cf23886116b0025658b836f3357"},"schema_version":"1.0","source":{"id":"2209.11530","kind":"arxiv","version":1}},"canonical_sha256":"78dd1bafda2a23078a797df1018af337f927eeba6822164fcd72d8512e0cf22e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"78dd1bafda2a23078a797df1018af337f927eeba6822164fcd72d8512e0cf22e","first_computed_at":"2026-07-05T05:00:22.119194Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:00:22.119194Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"q1PjbwymVBwqY+ZKBPoIdGr4tGUUZXaGPNP8kXXgDKUvXEt4ESvVP5Vgs5F/pNFJHDFhgBNUtuwJZgdY5X0zCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T05:00:22.119634Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.11530","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3e6c5943ae275b05de510957bab7a8594a69e6ef6c38e84ca00760de5e7f7b2b","sha256:5a0fb7487431c85015f5c9af21c28d17fe5bc6d0218e1311d705e6270857872b"],"state_sha256":"d49803989e4da0924cf955415872e0a559c1d387a268e563a367e58e33639a9e"}