{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:PLDANIGSPNGEJSOECIAP6ISADW","short_pith_number":"pith:PLDANIGS","canonical_record":{"source":{"id":"1709.02589","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-08T08:47:06Z","cross_cats_sorted":[],"title_canon_sha256":"b0796bf8e177079e1c9e107aebdef76a4b8c097ead80d9c30a13d9f53bcaaf40","abstract_canon_sha256":"57a583bd6422c5a7f539aff76ecc1ac00d36b2802723a46fe1e99229b3366982"},"schema_version":"1.0"},"canonical_sha256":"7ac606a0d27b4c44c9c41200ff22401da3e1878b6f7ecfb4e1d4590ab4ff385a","source":{"kind":"arxiv","id":"1709.02589","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1709.02589","created_at":"2026-05-18T00:06:48Z"},{"alias_kind":"arxiv_version","alias_value":"1709.02589v2","created_at":"2026-05-18T00:06:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1709.02589","created_at":"2026-05-18T00:06:48Z"},{"alias_kind":"pith_short_12","alias_value":"PLDANIGSPNGE","created_at":"2026-05-18T12:31:37Z"},{"alias_kind":"pith_short_16","alias_value":"PLDANIGSPNGEJSOE","created_at":"2026-05-18T12:31:37Z"},{"alias_kind":"pith_short_8","alias_value":"PLDANIGS","created_at":"2026-05-18T12:31:37Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:PLDANIGSPNGEJSOECIAP6ISADW","target":"record","payload":{"canonical_record":{"source":{"id":"1709.02589","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-08T08:47:06Z","cross_cats_sorted":[],"title_canon_sha256":"b0796bf8e177079e1c9e107aebdef76a4b8c097ead80d9c30a13d9f53bcaaf40","abstract_canon_sha256":"57a583bd6422c5a7f539aff76ecc1ac00d36b2802723a46fe1e99229b3366982"},"schema_version":"1.0"},"canonical_sha256":"7ac606a0d27b4c44c9c41200ff22401da3e1878b6f7ecfb4e1d4590ab4ff385a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:06:48.432270Z","signature_b64":"ftfVR9H44JL9i66QVjtb91NVdarga9NwwsStidbnfkP1z9EyZ8UgOQ5CvQljEIVmvdm4cPnCHE1vdZ2G4tcdAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7ac606a0d27b4c44c9c41200ff22401da3e1878b6f7ecfb4e1d4590ab4ff385a","last_reissued_at":"2026-05-18T00:06:48.431740Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:06:48.431740Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1709.02589","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":"2026-05-18T00:06:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gmaweCS+MPywdC9Yqdx7lRAQe3c8ypOuXxs/aD79wUE3UUFjUXECjSAomCnfPyUnh0i3P59SSIuPNPSYPNT5AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-21T05:40:00.445272Z"},"content_sha256":"3875f4768b36b7ed1dda8d9219d6dd81a6ba9396ddba14d353f85a3311faad34","schema_version":"1.0","event_id":"sha256:3875f4768b36b7ed1dda8d9219d6dd81a6ba9396ddba14d353f85a3311faad34"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:PLDANIGSPNGEJSOECIAP6ISADW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A geometric approach for learning compliant motions from demonstration","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Markku Suomalainen, Ville Kyrki","submitted_at":"2017-09-08T08:47:06Z","abstract_excerpt":"This paper proposes a method to learn from human demonstration compliant contact motions, which take advantage of interaction forces between workpieces to align them, even when contact force may occur from different directions on different instances of reproduction. To manage the uncertainty in unstructured conditions, the motions learned with our method can be reproduced with an impedance controller. Learning from Demonstration is used because the planning of compliant motions in 3-D is computationally intractable. The proposed method will learn an individual compliant motion, many of which c"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.02589","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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:06:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"niJd+2Rq3HndiNuQm1Tf0G8Ck8Zi5E5AT+WiUmKcFycaDCmYtA7mCe06msitxO09KgXCajH1XTPf4DQzbFfVBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-21T05:40:00.445657Z"},"content_sha256":"09478a48cdca37dc54459e26664e5e1e67cd42d35e68425438fca7e6d1d27460","schema_version":"1.0","event_id":"sha256:09478a48cdca37dc54459e26664e5e1e67cd42d35e68425438fca7e6d1d27460"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PLDANIGSPNGEJSOECIAP6ISADW/bundle.json","state_url":"https://pith.science/pith/PLDANIGSPNGEJSOECIAP6ISADW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PLDANIGSPNGEJSOECIAP6ISADW/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":"2026-06-21T05:40:00Z","links":{"resolver":"https://pith.science/pith/PLDANIGSPNGEJSOECIAP6ISADW","bundle":"https://pith.science/pith/PLDANIGSPNGEJSOECIAP6ISADW/bundle.json","state":"https://pith.science/pith/PLDANIGSPNGEJSOECIAP6ISADW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PLDANIGSPNGEJSOECIAP6ISADW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:PLDANIGSPNGEJSOECIAP6ISADW","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":"57a583bd6422c5a7f539aff76ecc1ac00d36b2802723a46fe1e99229b3366982","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-08T08:47:06Z","title_canon_sha256":"b0796bf8e177079e1c9e107aebdef76a4b8c097ead80d9c30a13d9f53bcaaf40"},"schema_version":"1.0","source":{"id":"1709.02589","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1709.02589","created_at":"2026-05-18T00:06:48Z"},{"alias_kind":"arxiv_version","alias_value":"1709.02589v2","created_at":"2026-05-18T00:06:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1709.02589","created_at":"2026-05-18T00:06:48Z"},{"alias_kind":"pith_short_12","alias_value":"PLDANIGSPNGE","created_at":"2026-05-18T12:31:37Z"},{"alias_kind":"pith_short_16","alias_value":"PLDANIGSPNGEJSOE","created_at":"2026-05-18T12:31:37Z"},{"alias_kind":"pith_short_8","alias_value":"PLDANIGS","created_at":"2026-05-18T12:31:37Z"}],"graph_snapshots":[{"event_id":"sha256:09478a48cdca37dc54459e26664e5e1e67cd42d35e68425438fca7e6d1d27460","target":"graph","created_at":"2026-05-18T00:06:48Z","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"},"paper":{"abstract_excerpt":"This paper proposes a method to learn from human demonstration compliant contact motions, which take advantage of interaction forces between workpieces to align them, even when contact force may occur from different directions on different instances of reproduction. To manage the uncertainty in unstructured conditions, the motions learned with our method can be reproduced with an impedance controller. Learning from Demonstration is used because the planning of compliant motions in 3-D is computationally intractable. The proposed method will learn an individual compliant motion, many of which c","authors_text":"Markku Suomalainen, Ville Kyrki","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-08T08:47:06Z","title":"A geometric approach for learning compliant motions from demonstration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.02589","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":"sha256:3875f4768b36b7ed1dda8d9219d6dd81a6ba9396ddba14d353f85a3311faad34","target":"record","created_at":"2026-05-18T00:06:48Z","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":"57a583bd6422c5a7f539aff76ecc1ac00d36b2802723a46fe1e99229b3366982","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-08T08:47:06Z","title_canon_sha256":"b0796bf8e177079e1c9e107aebdef76a4b8c097ead80d9c30a13d9f53bcaaf40"},"schema_version":"1.0","source":{"id":"1709.02589","kind":"arxiv","version":2}},"canonical_sha256":"7ac606a0d27b4c44c9c41200ff22401da3e1878b6f7ecfb4e1d4590ab4ff385a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7ac606a0d27b4c44c9c41200ff22401da3e1878b6f7ecfb4e1d4590ab4ff385a","first_computed_at":"2026-05-18T00:06:48.431740Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:06:48.431740Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ftfVR9H44JL9i66QVjtb91NVdarga9NwwsStidbnfkP1z9EyZ8UgOQ5CvQljEIVmvdm4cPnCHE1vdZ2G4tcdAQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:06:48.432270Z","signed_message":"canonical_sha256_bytes"},"source_id":"1709.02589","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3875f4768b36b7ed1dda8d9219d6dd81a6ba9396ddba14d353f85a3311faad34","sha256:09478a48cdca37dc54459e26664e5e1e67cd42d35e68425438fca7e6d1d27460"],"state_sha256":"cffabdee4b9f8de776614641d32c8643945ef00deb6d94f2d230faa5b31be350"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"d0DjSUS86I0oZNH9d3isiR8gAN7VoOYbyNKPF0BCNQHsu5QILmIADul9teG3kf25AEuxHdoyDefvHvtrn/GgDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-21T05:40:00.447624Z","bundle_sha256":"049e02f817e18b84ac032502e9cb9beaea46a5ededeb8219cc9f4877ac7b5ac2"}}