{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:RH4LI4OD6NJIKULISVS6MFSX3T","short_pith_number":"pith:RH4LI4OD","canonical_record":{"source":{"id":"2403.05177","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T09:34:06Z","cross_cats_sorted":[],"title_canon_sha256":"9e80ab2846bb8e5dffb82de1019c78576b45e816bdbbb2ad4e1f26fc3ea12e3f","abstract_canon_sha256":"f4de98c6749d006e145d1397c76540e2a05734eeafe9d5e03c630634899dfef1"},"schema_version":"1.0"},"canonical_sha256":"89f8b471c3f3528551689565e61657dccab80944493e56000a88cd14a0cb1509","source":{"kind":"arxiv","id":"2403.05177","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.05177","created_at":"2026-07-05T09:25:23Z"},{"alias_kind":"arxiv_version","alias_value":"2403.05177v2","created_at":"2026-07-05T09:25:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.05177","created_at":"2026-07-05T09:25:23Z"},{"alias_kind":"pith_short_12","alias_value":"RH4LI4OD6NJI","created_at":"2026-07-05T09:25:23Z"},{"alias_kind":"pith_short_16","alias_value":"RH4LI4OD6NJIKULI","created_at":"2026-07-05T09:25:23Z"},{"alias_kind":"pith_short_8","alias_value":"RH4LI4OD","created_at":"2026-07-05T09:25:23Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:RH4LI4OD6NJIKULISVS6MFSX3T","target":"record","payload":{"canonical_record":{"source":{"id":"2403.05177","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T09:34:06Z","cross_cats_sorted":[],"title_canon_sha256":"9e80ab2846bb8e5dffb82de1019c78576b45e816bdbbb2ad4e1f26fc3ea12e3f","abstract_canon_sha256":"f4de98c6749d006e145d1397c76540e2a05734eeafe9d5e03c630634899dfef1"},"schema_version":"1.0"},"canonical_sha256":"89f8b471c3f3528551689565e61657dccab80944493e56000a88cd14a0cb1509","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:25:23.055154Z","signature_b64":"HVrbY6t8aXokH5QQiyF5rln3oAlHOkg4ajTajUFnitx2MROme1hzOsLlJ0mHdhZS90n8o8Nnn0M7aeKeEUeMCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"89f8b471c3f3528551689565e61657dccab80944493e56000a88cd14a0cb1509","last_reissued_at":"2026-07-05T09:25:23.054694Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:25:23.054694Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.05177","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":"2026-07-05T09:25:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"f+VjI1JIH0l/MmgOsVE47PCnZkGMuriL+8lcv4RWHo39PPMVP947gtl3ZVSiPv/zeaqMO2RLKCyfsF+upl03Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-16T13:19:02.895267Z"},"content_sha256":"0a65cb942a3292d33184997c7c6a20da5f9126024ce68cb814b6410b76e20123","schema_version":"1.0","event_id":"sha256:0a65cb942a3292d33184997c7c6a20da5f9126024ce68cb814b6410b76e20123"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:RH4LI4OD6NJIKULISVS6MFSX3T","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Interactive Perception for Deformable Object Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alexander Kravberg, Anastasiia Varava, Danica Kragic, David Navarro-Alarcon, Hang Yin, Peng Zhou, Zehang Weng","submitted_at":"2024-03-08T09:34:06Z","abstract_excerpt":"Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and occlusion in vision-based perception. In this work, we address such a problem with a setup involving both an active camera and an object manipulator. Our approach is based on a sequential decision-making framework and explicitly considers the motion regularity and structure in coupling the camera and manipulator. We contribute a method for constructing and computin"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.05177","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/2403.05177/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":"2026-07-05T09:25:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"w0Gzzc80M+ZGLUvPUCSE3qABcaZCtK6F1kMgr5OjKxTXBFvgSIZRx8gXTxyGeM2w8DMjet0xCbG0aIy00uyaBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-16T13:19:02.895682Z"},"content_sha256":"4054ad9c3a0c5ec0ccdac4cd766b06c0fcf5c0ce96b38efe06368c7028c0b6e5","schema_version":"1.0","event_id":"sha256:4054ad9c3a0c5ec0ccdac4cd766b06c0fcf5c0ce96b38efe06368c7028c0b6e5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/RH4LI4OD6NJIKULISVS6MFSX3T/bundle.json","state_url":"https://pith.science/pith/RH4LI4OD6NJIKULISVS6MFSX3T/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/RH4LI4OD6NJIKULISVS6MFSX3T/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":"2026-07-16T13:19:02Z","links":{"resolver":"https://pith.science/pith/RH4LI4OD6NJIKULISVS6MFSX3T","bundle":"https://pith.science/pith/RH4LI4OD6NJIKULISVS6MFSX3T/bundle.json","state":"https://pith.science/pith/RH4LI4OD6NJIKULISVS6MFSX3T/state.json","well_known_bundle":"https://pith.science/.well-known/pith/RH4LI4OD6NJIKULISVS6MFSX3T/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:RH4LI4OD6NJIKULISVS6MFSX3T","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":"f4de98c6749d006e145d1397c76540e2a05734eeafe9d5e03c630634899dfef1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T09:34:06Z","title_canon_sha256":"9e80ab2846bb8e5dffb82de1019c78576b45e816bdbbb2ad4e1f26fc3ea12e3f"},"schema_version":"1.0","source":{"id":"2403.05177","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.05177","created_at":"2026-07-05T09:25:23Z"},{"alias_kind":"arxiv_version","alias_value":"2403.05177v2","created_at":"2026-07-05T09:25:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.05177","created_at":"2026-07-05T09:25:23Z"},{"alias_kind":"pith_short_12","alias_value":"RH4LI4OD6NJI","created_at":"2026-07-05T09:25:23Z"},{"alias_kind":"pith_short_16","alias_value":"RH4LI4OD6NJIKULI","created_at":"2026-07-05T09:25:23Z"},{"alias_kind":"pith_short_8","alias_value":"RH4LI4OD","created_at":"2026-07-05T09:25:23Z"}],"graph_snapshots":[{"event_id":"sha256:4054ad9c3a0c5ec0ccdac4cd766b06c0fcf5c0ce96b38efe06368c7028c0b6e5","target":"graph","created_at":"2026-07-05T09:25:23Z","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/2403.05177/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and occlusion in vision-based perception. In this work, we address such a problem with a setup involving both an active camera and an object manipulator. Our approach is based on a sequential decision-making framework and explicitly considers the motion regularity and structure in coupling the camera and manipulator. We contribute a method for constructing and computin","authors_text":"Alexander Kravberg, Anastasiia Varava, Danica Kragic, David Navarro-Alarcon, Hang Yin, Peng Zhou, Zehang Weng","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T09:34:06Z","title":"Interactive Perception for Deformable Object Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.05177","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":"sha256:0a65cb942a3292d33184997c7c6a20da5f9126024ce68cb814b6410b76e20123","target":"record","created_at":"2026-07-05T09:25:23Z","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":"f4de98c6749d006e145d1397c76540e2a05734eeafe9d5e03c630634899dfef1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-08T09:34:06Z","title_canon_sha256":"9e80ab2846bb8e5dffb82de1019c78576b45e816bdbbb2ad4e1f26fc3ea12e3f"},"schema_version":"1.0","source":{"id":"2403.05177","kind":"arxiv","version":2}},"canonical_sha256":"89f8b471c3f3528551689565e61657dccab80944493e56000a88cd14a0cb1509","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"89f8b471c3f3528551689565e61657dccab80944493e56000a88cd14a0cb1509","first_computed_at":"2026-07-05T09:25:23.054694Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:25:23.054694Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"HVrbY6t8aXokH5QQiyF5rln3oAlHOkg4ajTajUFnitx2MROme1hzOsLlJ0mHdhZS90n8o8Nnn0M7aeKeEUeMCg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:25:23.055154Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.05177","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0a65cb942a3292d33184997c7c6a20da5f9126024ce68cb814b6410b76e20123","sha256:4054ad9c3a0c5ec0ccdac4cd766b06c0fcf5c0ce96b38efe06368c7028c0b6e5"],"state_sha256":"9121cc83f6204ccac7e0f3231ad1f9b919b71eb92c9ec72d70573a4f1a6a88f9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VqWoDDVJt3qfbrTKHtMSPj+FBNL5suCG9cM3+fAu323/UOsnymnUrQkRoBA5DZsEuR1nHBOd/fTLypyjX1piAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-16T13:19:02.898095Z","bundle_sha256":"a7dba9a1825df30af7bb400f176ea0bf11415aa403ff8c7f55f0ffc265de1587"}}