{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:R7YUAQVBZ76FMZNTUK5FYYM732","short_pith_number":"pith:R7YUAQVB","canonical_record":{"source":{"id":"2406.09990","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-14T12:57:44Z","cross_cats_sorted":[],"title_canon_sha256":"ac5fcea7281f482cc58dc926dd56d7deb291d12e46a316c337a30ebd5c762484","abstract_canon_sha256":"96acd3076efa550574682b70d78f9a5878c66f5325bf0340ed46e16630da8487"},"schema_version":"1.0"},"canonical_sha256":"8ff14042a1cffc5665b3a2ba5c619fdea3a2b86ffb4eb5f850e3211559dd85f9","source":{"kind":"arxiv","id":"2406.09990","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.09990","created_at":"2026-07-05T08:32:02Z"},{"alias_kind":"arxiv_version","alias_value":"2406.09990v1","created_at":"2026-07-05T08:32:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.09990","created_at":"2026-07-05T08:32:02Z"},{"alias_kind":"pith_short_12","alias_value":"R7YUAQVBZ76F","created_at":"2026-07-05T08:32:02Z"},{"alias_kind":"pith_short_16","alias_value":"R7YUAQVBZ76FMZNT","created_at":"2026-07-05T08:32:02Z"},{"alias_kind":"pith_short_8","alias_value":"R7YUAQVB","created_at":"2026-07-05T08:32:02Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:R7YUAQVBZ76FMZNTUK5FYYM732","target":"record","payload":{"canonical_record":{"source":{"id":"2406.09990","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-14T12:57:44Z","cross_cats_sorted":[],"title_canon_sha256":"ac5fcea7281f482cc58dc926dd56d7deb291d12e46a316c337a30ebd5c762484","abstract_canon_sha256":"96acd3076efa550574682b70d78f9a5878c66f5325bf0340ed46e16630da8487"},"schema_version":"1.0"},"canonical_sha256":"8ff14042a1cffc5665b3a2ba5c619fdea3a2b86ffb4eb5f850e3211559dd85f9","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:32:02.922258Z","signature_b64":"6KLjuFwBPguxdDJdJPUEpeig1hWU4NQgTlQQuxvwQaq0TFbSeTi6kPxFU+x8GbKVyVDjXQR/MjTM7vj2wZTNDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8ff14042a1cffc5665b3a2ba5c619fdea3a2b86ffb4eb5f850e3211559dd85f9","last_reissued_at":"2026-07-05T08:32:02.921721Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:32:02.921721Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2406.09990","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":"2026-07-05T08:32:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kEHeBgIZ8gQxGdm1UM+aNUnFjg80GJAcRSfK37/xmY9z/b6WYnBx3oLdlqmcwsUKio+HG+o1VfllA5UrJ41LAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T22:35:56.976512Z"},"content_sha256":"015138a2aa1b0a699d534cb4190d3d4a2ac6f42ce07aa8705531693493890d38","schema_version":"1.0","event_id":"sha256:015138a2aa1b0a699d534cb4190d3d4a2ac6f42ce07aa8705531693493890d38"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:R7YUAQVBZ76FMZNTUK5FYYM732","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Task segmentation based on transition state clustering for surgical robot assistance","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ana Davila, Jacinto Colan, Yasuhisa Hasegawa, Yutaro Yamada","submitted_at":"2024-06-14T12:57:44Z","abstract_excerpt":"Understanding surgical tasks represents an important challenge for autonomy in surgical robotic systems. To achieve this, we propose an online task segmentation framework that uses hierarchical transition state clustering to activate predefined robot assistance. Our approach involves performing a first clustering on visual features and a subsequent clustering on robot kinematic features for each visual cluster. This enables to capture relevant task transition information on each modality independently. The approach is implemented for a pick-and-place task commonly found in surgical training. T"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.09990","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/2406.09990/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":"2026-07-05T08:32:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YwRnA1FQYXQx6Z0a12NZNRLxRu94kAEpV0jmnzDVlXJAJf7d53zgAjupmFQZqX/3mwKeSjZVZLcGuBtt7oRzDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T22:35:56.977395Z"},"content_sha256":"b9980ce2d0ace582aac12d9e5f6dd597ed6af8f6abbe2dea2a6959fe02b996c1","schema_version":"1.0","event_id":"sha256:b9980ce2d0ace582aac12d9e5f6dd597ed6af8f6abbe2dea2a6959fe02b996c1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/R7YUAQVBZ76FMZNTUK5FYYM732/bundle.json","state_url":"https://pith.science/pith/R7YUAQVBZ76FMZNTUK5FYYM732/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/R7YUAQVBZ76FMZNTUK5FYYM732/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":"2026-08-05T22:35:56Z","links":{"resolver":"https://pith.science/pith/R7YUAQVBZ76FMZNTUK5FYYM732","bundle":"https://pith.science/pith/R7YUAQVBZ76FMZNTUK5FYYM732/bundle.json","state":"https://pith.science/pith/R7YUAQVBZ76FMZNTUK5FYYM732/state.json","well_known_bundle":"https://pith.science/.well-known/pith/R7YUAQVBZ76FMZNTUK5FYYM732/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:R7YUAQVBZ76FMZNTUK5FYYM732","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":"96acd3076efa550574682b70d78f9a5878c66f5325bf0340ed46e16630da8487","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-14T12:57:44Z","title_canon_sha256":"ac5fcea7281f482cc58dc926dd56d7deb291d12e46a316c337a30ebd5c762484"},"schema_version":"1.0","source":{"id":"2406.09990","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.09990","created_at":"2026-07-05T08:32:02Z"},{"alias_kind":"arxiv_version","alias_value":"2406.09990v1","created_at":"2026-07-05T08:32:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.09990","created_at":"2026-07-05T08:32:02Z"},{"alias_kind":"pith_short_12","alias_value":"R7YUAQVBZ76F","created_at":"2026-07-05T08:32:02Z"},{"alias_kind":"pith_short_16","alias_value":"R7YUAQVBZ76FMZNT","created_at":"2026-07-05T08:32:02Z"},{"alias_kind":"pith_short_8","alias_value":"R7YUAQVB","created_at":"2026-07-05T08:32:02Z"}],"graph_snapshots":[{"event_id":"sha256:b9980ce2d0ace582aac12d9e5f6dd597ed6af8f6abbe2dea2a6959fe02b996c1","target":"graph","created_at":"2026-07-05T08:32:02Z","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/2406.09990/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Understanding surgical tasks represents an important challenge for autonomy in surgical robotic systems. To achieve this, we propose an online task segmentation framework that uses hierarchical transition state clustering to activate predefined robot assistance. Our approach involves performing a first clustering on visual features and a subsequent clustering on robot kinematic features for each visual cluster. This enables to capture relevant task transition information on each modality independently. The approach is implemented for a pick-and-place task commonly found in surgical training. T","authors_text":"Ana Davila, Jacinto Colan, Yasuhisa Hasegawa, Yutaro Yamada","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-14T12:57:44Z","title":"Task segmentation based on transition state clustering for surgical robot assistance"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.09990","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":"sha256:015138a2aa1b0a699d534cb4190d3d4a2ac6f42ce07aa8705531693493890d38","target":"record","created_at":"2026-07-05T08:32:02Z","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":"96acd3076efa550574682b70d78f9a5878c66f5325bf0340ed46e16630da8487","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-14T12:57:44Z","title_canon_sha256":"ac5fcea7281f482cc58dc926dd56d7deb291d12e46a316c337a30ebd5c762484"},"schema_version":"1.0","source":{"id":"2406.09990","kind":"arxiv","version":1}},"canonical_sha256":"8ff14042a1cffc5665b3a2ba5c619fdea3a2b86ffb4eb5f850e3211559dd85f9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8ff14042a1cffc5665b3a2ba5c619fdea3a2b86ffb4eb5f850e3211559dd85f9","first_computed_at":"2026-07-05T08:32:02.921721Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:32:02.921721Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"6KLjuFwBPguxdDJdJPUEpeig1hWU4NQgTlQQuxvwQaq0TFbSeTi6kPxFU+x8GbKVyVDjXQR/MjTM7vj2wZTNDA==","signature_status":"signed_v1","signed_at":"2026-07-05T08:32:02.922258Z","signed_message":"canonical_sha256_bytes"},"source_id":"2406.09990","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:015138a2aa1b0a699d534cb4190d3d4a2ac6f42ce07aa8705531693493890d38","sha256:b9980ce2d0ace582aac12d9e5f6dd597ed6af8f6abbe2dea2a6959fe02b996c1"],"state_sha256":"c938bb05d240d3d35297e222cbc2550f7aa27e3f8493a569d616ad182ff2a8d7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Y9mWxRsj1SZt8QLRhaaXvlt3dTj+PhXfYGC2pdXlJEbtKppOkkYmtdmPPDupBYLXuZyTAXCiUGfoMY/MbvOoCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T22:35:56.983041Z","bundle_sha256":"aeb2f73a518c4edf84d557b20faa091e51eab0a0ecf69553bf80171470e35975"}}